diff --git a/examples/QMI8658_CalibrationExample/QMI8658_CalibrationExample.ino b/examples/QMI8658_CalibrationExample/QMI8658_CalibrationExample.ino
index 39d13db..8156a4d 100644
--- a/examples/QMI8658_CalibrationExample/QMI8658_CalibrationExample.ino
+++ b/examples/QMI8658_CalibrationExample/QMI8658_CalibrationExample.ino
@@ -175,6 +175,7 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_0);
 
@@ -209,6 +210,7 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_3);
 
diff --git a/examples/QMI8658_GetDataExample/QMI8658_GetDataExample.ino b/examples/QMI8658_GetDataExample/QMI8658_GetDataExample.ino
index 8ad67da..c72bb58 100644
--- a/examples/QMI8658_GetDataExample/QMI8658_GetDataExample.ino
+++ b/examples/QMI8658_GetDataExample/QMI8658_GetDataExample.ino
@@ -135,6 +135,7 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_0);
 
@@ -169,6 +170,7 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_3);
 
@@ -177,7 +179,8 @@ void setup()
 
     // In 6DOF mode (accelerometer and gyroscope are both enabled),
     // the output data rate is derived from the nature frequency of gyroscope
-    qmi.enableGyroscope();
+    // qmi.enableGyroscope();
+    qmi.disableGyroscope();
     qmi.enableAccelerometer();
 
     // Print register configuration information
diff --git a/examples/QMI8658_InterruptBlockExample/QMI8658_InterruptBlockExample.ino b/examples/QMI8658_InterruptBlockExample/QMI8658_InterruptBlockExample.ino
index 16f2027..e51d6b0 100644
--- a/examples/QMI8658_InterruptBlockExample/QMI8658_InterruptBlockExample.ino
+++ b/examples/QMI8658_InterruptBlockExample/QMI8658_InterruptBlockExample.ino
@@ -145,10 +145,9 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
-        SensorQMI8658::LPF_MODE_0,
-        // selfTest enable
-        true);
+        SensorQMI8658::LPF_MODE_0);
 
 
     qmi.configGyroscope(
@@ -161,7 +160,7 @@ void setup()
         * GYR_RANGE_512DPS
         * GYR_RANGE_1024DPS
         * */
-        SensorQMI8658::GYR_RANGE_256DPS,
+        SensorQMI8658::GYR_RANGE_64DPS,
         /*
          * GYR_ODR_7174_4Hz
          * GYR_ODR_3587_2Hz
@@ -179,10 +178,9 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
-        SensorQMI8658::LPF_MODE_3,
-        // selfTest enable
-        true);
+        SensorQMI8658::LPF_MODE_3);
 
 
     // In 6DOF mode (accelerometer and gyroscope are both enabled),
diff --git a/examples/QMI8658_InterruptExample/QMI8658_InterruptExample.ino b/examples/QMI8658_InterruptExample/QMI8658_InterruptExample.ino
index 265d2ad..f735430 100644
--- a/examples/QMI8658_InterruptExample/QMI8658_InterruptExample.ino
+++ b/examples/QMI8658_InterruptExample/QMI8658_InterruptExample.ino
@@ -126,10 +126,9 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
-        SensorQMI8658::LPF_MODE_0,
-        // selfTest enable
-        true);
+        SensorQMI8658::LPF_MODE_0);
 
 
     qmi.configGyroscope(
@@ -160,10 +159,9 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
-        SensorQMI8658::LPF_MODE_3,
-        // selfTest enable
-        true);
+        SensorQMI8658::LPF_MODE_3);
 
 
     // In 6DOF mode (accelerometer and gyroscope are both enabled),
diff --git a/examples/QMI8658_LockingMechanismExample/QMI8658_LockingMechanismExample.ino b/examples/QMI8658_LockingMechanismExample/QMI8658_LockingMechanismExample.ino
index 1e0b054..9ccebe7 100644
--- a/examples/QMI8658_LockingMechanismExample/QMI8658_LockingMechanismExample.ino
+++ b/examples/QMI8658_LockingMechanismExample/QMI8658_LockingMechanismExample.ino
@@ -161,10 +161,11 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
-        SensorQMI8658::LPF_MODE_0,
-        // selfTest enable
-        true);
+        SensorQMI8658::LPF_MODE_0);
+
+
 
 
     qmi.configGyroscope(
@@ -195,10 +196,9 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
-        SensorQMI8658::LPF_MODE_3,
-        // selfTest enable
-        true);
+        SensorQMI8658::LPF_MODE_3);
 
     // In 6DOF mode (accelerometer and gyroscope are both enabled),
     // the output data rate is derived from the nature frequency of gyroscope
diff --git a/examples/QMI8658_MadgwickAHRS/QMI8658_MadgwickAHRS.ino b/examples/QMI8658_MadgwickAHRS/QMI8658_MadgwickAHRS.ino
index 9f23b15..a57caed 100644
--- a/examples/QMI8658_MadgwickAHRS/QMI8658_MadgwickAHRS.ino
+++ b/examples/QMI8658_MadgwickAHRS/QMI8658_MadgwickAHRS.ino
@@ -111,6 +111,7 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_0);
 
@@ -143,6 +144,7 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_3);
 
diff --git a/examples/QMI8658_PedometerExample/QMI8658_PedometerExample.ino b/examples/QMI8658_PedometerExample/QMI8658_PedometerExample.ino
index 51b0259..e52108a 100644
--- a/examples/QMI8658_PedometerExample/QMI8658_PedometerExample.ino
+++ b/examples/QMI8658_PedometerExample/QMI8658_PedometerExample.ino
@@ -105,19 +105,22 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_0);
 
 
+
+
     qmi.configGyroscope(
         /*
-         * GYR_RANGE_16DPS
-         * GYR_RANGE_32DPS
-         * GYR_RANGE_64DPS
-         * GYR_RANGE_128DPS
-         * GYR_RANGE_256DPS
-         * GYR_RANGE_512DPS
-         * GYR_RANGE_1024DPS
+        * GYR_RANGE_16DPS
+        * GYR_RANGE_32DPS
+        * GYR_RANGE_64DPS
+        * GYR_RANGE_128DPS
+        * GYR_RANGE_256DPS
+        * GYR_RANGE_512DPS
+        * GYR_RANGE_1024DPS
         * */
         SensorQMI8658::GYR_RANGE_64DPS,
         /*
@@ -130,13 +133,14 @@ void setup()
          * GYR_ODR_112_1Hz
          * GYR_ODR_56_05Hz
          * GYR_ODR_28_025H
-        * */
+         * */
         SensorQMI8658::GYR_ODR_112_1Hz,
         /*
         *  LPF_MODE_0     //2.66% of ODR
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_3);
 
diff --git a/examples/QMI8658_ReadFromFifoExample/QMI8658_ReadFromFifoExample.ino b/examples/QMI8658_ReadFromFifoExample/QMI8658_ReadFromFifoExample.ino
index 948739a..f5986b9 100644
--- a/examples/QMI8658_ReadFromFifoExample/QMI8658_ReadFromFifoExample.ino
+++ b/examples/QMI8658_ReadFromFifoExample/QMI8658_ReadFromFifoExample.ino
@@ -112,6 +112,7 @@ void setup()
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_0);
 
@@ -137,13 +138,14 @@ void setup()
          * GYR_ODR_112_1Hz
          * GYR_ODR_56_05Hz
          * GYR_ODR_28_025H
-        * */
+         * */
         SensorQMI8658::GYR_ODR_896_8Hz,
         /*
         *  LPF_MODE_0     //2.66% of ODR
         *  LPF_MODE_1     //3.63% of ODR
         *  LPF_MODE_2     //5.39% of ODR
         *  LPF_MODE_3     //13.37% of ODR
+        *  LPF_OFF        // OFF Low-Pass Fitter
         * */
         SensorQMI8658::LPF_MODE_3);
 
diff --git a/src/SensorQMI8658.hpp b/src/SensorQMI8658.hpp
index 005646f..9458e78 100644
--- a/src/SensorQMI8658.hpp
+++ b/src/SensorQMI8658.hpp
@@ -99,6 +99,7 @@ class SensorQMI8658 :
         LPF_MODE_1,     //3.63% of ODR
         LPF_MODE_2,     //5.39% of ODR
         LPF_MODE_3,     //13.37% of ODR
+        LPF_OFF,        //OFF Low-Pass Filter
     };
 
     enum MotionEvent {
@@ -332,8 +333,7 @@ class SensorQMI8658 :
      * @param  selfTest:
      * @retval
      */
-    int configAccelerometer(AccelRange range, AccelODR odr, LpfMode lpfOdr = LPF_MODE_0,
-                            bool lpf = true)
+    int configAccelerometer(AccelRange range, AccelODR odr, LpfMode lpfOdr = LPF_MODE_0)
     {
         bool en = isEnableAccelerometer();
 
@@ -362,12 +362,16 @@ class SensorQMI8658 :
             return DEV_WIRE_ERR;
         }
 
-        // setAccelLowPassFitter
-        lpf ? setRegisterBit(QMI8658_REG_CTRL5, 0) : clrRegisterBit(QMI8658_REG_CTRL5, 0);
-
-        // setAccelLowPassFitterOdr
-        if (writeRegister(QMI8658_REG_CTRL5, QMI8658_ACCEL_LPF_MASK,  (lpfOdr << 1)) != DEV_WIRE_NONE) {
-            return DEV_WIRE_ERR;
+        if (lpfOdr != LPF_OFF) {
+            // setAccelLowPassFitterOdr
+            if (writeRegister(QMI8658_REG_CTRL5, QMI8658_ACCEL_LPF_MASK,  (lpfOdr << 1)) != DEV_WIRE_NONE) {
+                return DEV_WIRE_ERR;
+            }
+            // Enable Low-Pass Fitter
+            setRegisterBit(QMI8658_REG_CTRL5, 0);
+        } else {
+            // Disable Low-Pass Fitter
+            clrRegisterBit(QMI8658_REG_CTRL5, 0);
         }
 
         // setAccelSelfTest
@@ -389,8 +393,7 @@ class SensorQMI8658 :
      * @param  lpf (Low-Pass Filter Mode): see LpfMode
      * @retval
      */
-    int configGyroscope(GyroRange range, GyroODR odr, LpfMode lpfOdr = LPF_MODE_0,
-                        bool lpf = true)
+    int configGyroscope(GyroRange range, GyroODR odr, LpfMode lpfOdr = LPF_MODE_0)
     {
         bool en = isEnableGyroscope();
 
@@ -422,13 +425,16 @@ class SensorQMI8658 :
             return DEV_WIRE_ERR;
         }
 
-        // setGyroLowPassFitter
-        lpf ? setRegisterBit(QMI8658_REG_CTRL5, 4) : clrRegisterBit(QMI8658_REG_CTRL5, 4);
-
-
         // setGyroLowPassFitterOdr
-        if (writeRegister(QMI8658_REG_CTRL5, QMI8658_GYRO_LPF_MASK,  (lpfOdr << 5)) != DEV_WIRE_NONE) {
-            return DEV_WIRE_ERR;
+        if (lpfOdr != LPF_OFF) {
+            if (writeRegister(QMI8658_REG_CTRL5, QMI8658_GYRO_LPF_MASK,  (lpfOdr << 5)) != DEV_WIRE_NONE) {
+                return DEV_WIRE_ERR;
+            }
+            // Enable Low-Pass Fitter
+            setRegisterBit(QMI8658_REG_CTRL5, 4);
+        } else {
+            // Disable Low-Pass Fitter
+            clrRegisterBit(QMI8658_REG_CTRL5, 4);
         }
 
         // setGyroSelfTest