diff --git a/Production/Firmware/chu_pico.uf2 b/Production/Firmware/chu_pico.uf2
index e99e6da..69bea00 100644
Binary files a/Production/Firmware/chu_pico.uf2 and b/Production/Firmware/chu_pico.uf2 differ
diff --git a/firmware/src/cmd.c b/firmware/src/cmd.c
index aad0723..724d424 100644
--- a/firmware/src/cmd.c
+++ b/firmware/src/cmd.c
@@ -88,8 +88,8 @@ static void disp_tof()
 static void disp_sense()
 {
     printf("[Sense]\n");
-    printf("  Global: %+d, debounce (touch, release): %d, %d\n", chu_cfg->sense.global,
-           chu_cfg->sense.debounce_touch, chu_cfg->sense.debounce_release);
+    printf("  Filter: %d, %d\n", chu_cfg->sense.filter >> 4, chu_cfg->sense.filter & 0xf);
+    printf("  Sensitivity (global: %+d):\n", chu_cfg->sense.global);
     printf("    | 1| 2| 3| 4| 5| 6| 7| 8| 9|10|11|12|13|14|15|16|\n");
     printf("  ---------------------------------------------------\n");
     printf("  A |");
@@ -101,6 +101,8 @@ static void disp_sense()
         printf("%+2d|", chu_cfg->sense.keys[i * 2 + 1]);
     }
     printf("\n");
+    printf("  Debounce (touch, release): %d, %d\n",
+           chu_cfg->sense.debounce_touch, chu_cfg->sense.debounce_release);
 }
 
 static void disp_hid()
@@ -212,8 +214,8 @@ static int extract_non_neg_int(const char *param, int len)
 static void handle_tof(int argc, char *argv[])
 {
     const char *usage = "Usage: tof <offset> [pitch]\n"
-                        "  offset: 40-255\n"
-                        "  pitch: 4-50\n";
+                        "  offset: 40..255\n"
+                        "  pitch: 4..50\n";
     if ((argc < 1) || (argc > 2)) {
         printf(usage);
         return;
@@ -240,6 +242,30 @@ static void handle_tof(int argc, char *argv[])
     disp_tof();
 }
 
+static void handle_filter(int argc, char *argv[])
+{
+    const char *usage = "Usage: filter <first> <second>\n"
+                        "  first, second: 0..3\n";
+    if ((argc < 2) || (argc > 2)) {
+        printf(usage);
+        return;
+    }
+
+    int ffi = extract_non_neg_int(argv[0], 0);
+    int sfi = extract_non_neg_int(argv[1], 0);
+
+    if ((ffi < 0) || (ffi > 3) || (sfi < 0) || (sfi > 3)) {
+        printf(usage);
+        return;
+    }
+
+    chu_cfg->sense.filter = (ffi << 4) | sfi;
+
+    slider_update_config();
+    config_changed();
+    disp_sense();
+}
+
 static uint8_t *extract_key(const char *param)
 {
     int len = strlen(param);
@@ -261,44 +287,58 @@ static uint8_t *extract_key(const char *param)
     return &chu_cfg->sense.keys[id * 2 + offset];
 }
 
+static void sense_do_op(int8_t *target, char op)
+{
+    if (op == '+') {
+        if (*target < SENSE_LIMIT_MAX) {
+            (*target)++;
+        }
+    } else if (op == '-') {
+        if (*target > SENSE_LIMIT_MIN) {
+            (*target)--;
+        }
+    } else if (op == '0') {
+        *target = 0;
+    }
+}
+
 static void handle_sense(int argc, char *argv[])
 {
-    const char *usage = "Usage: sense [key] <+|-|0>\n"
+    const char *usage = "Usage: sense [key|*] <+|-|0>\n"
                         "Example:\n"
                         "  >sense +\n"
                         "  >sense -\n"
                         "  >sense 1A +\n"
-                        "  >sense 13B 0\n";
+                        "  >sense 13B -\n";
+                        "  >sense * 0\n";
     if ((argc < 1) || (argc > 2)) {
         printf(usage);
         return;
     }
 
-    int8_t *target = &chu_cfg->sense.global;
     const char *op = argv[argc - 1];
-    if (argc == 2) {
-        target = extract_key(argv[0]);
-        if (!target) {
-            printf(usage);
-            return;
-        }
-    }
-
-    if (strcmp(op, "+") == 0) {
-        if (*target < SENSE_LIMIT_MAX) {
-            (*target)++;
-        }
-    } else if (strcmp(op, "-") == 0) {
-        if (*target > SENSE_LIMIT_MIN) {
-            (*target)--;
-        }
-    } else if (strcmp(op, "0") == 0) {
-        *target = 0;
-    } else {
+    if ((strlen(op) != 1) || !strchr("+-0", op[0])) {
         printf(usage);
         return;
     }
 
+    if (argc == 1) {
+        sense_do_op(&chu_cfg->sense.global, op[0]);
+    } else {
+        if (strcmp(argv[0], "*") == 0) {
+            for (int i = 0; i < 32; i++) {
+                sense_do_op(&chu_cfg->sense.keys[i], op[0]);
+            }
+        } else {
+            uint8_t *key = extract_key(argv[0]);
+            if (!key) {
+                printf(usage);
+                return;
+            }
+            sense_do_op(key, op[0]);
+        }
+    }
+
     slider_update_config();
     config_changed();
     disp_sense();
@@ -307,7 +347,7 @@ static void handle_sense(int argc, char *argv[])
 static void handle_debounce(int argc, char *argv[])
 {
     const char *usage = "Usage: debounce <touch> [release]\n"
-                        "  touch, release: 0-7\n";
+                        "  touch, release: 0..7\n";
     if ((argc < 1) || (argc > 2)) {
         printf(usage);
         return;
@@ -354,6 +394,7 @@ void cmd_init()
     register_command("fps", handle_fps);
     register_command("hid", handle_hid);
     register_command("tof", handle_tof);
+    register_command("filter", handle_filter);
     register_command("sense", handle_sense);
     register_command("debounce", handle_debounce);
     register_command("save", handle_save);
diff --git a/firmware/src/config.c b/firmware/src/config.c
index 9e8c253..7b0dd14 100644
--- a/firmware/src/config.c
+++ b/firmware/src/config.c
@@ -52,6 +52,11 @@ static void config_loaded()
         chu_cfg->tof = default_cfg.tof;
         config_changed();
     }
+    if ((chu_cfg->sense.filter & 0x0f) > 3 ||
+        ((chu_cfg->sense.filter >> 4) & 0x0f) > 3) {
+        chu_cfg->sense.filter = default_cfg.sense.filter;
+        config_changed();
+    }
     if ((chu_cfg->sense.global > 7) || (chu_cfg->sense.global < -7)) {
         chu_cfg->sense.global = default_cfg.sense.global;
         config_changed();
diff --git a/firmware/src/config.h b/firmware/src/config.h
index 65fd2ef..15906eb 100644
--- a/firmware/src/config.h
+++ b/firmware/src/config.h
@@ -28,6 +28,7 @@ typedef struct __attribute__((packed)) {
         uint8_t pitch;
     } tof;
     struct {
+        int8_t filter;
         int8_t global;
         uint8_t debounce_touch;
         uint8_t debounce_release;        
diff --git a/firmware/src/mpr121.c b/firmware/src/mpr121.c
index 741ab22..c4790af 100644
--- a/firmware/src/mpr121.c
+++ b/firmware/src/mpr121.c
@@ -165,10 +165,17 @@ static uint8_t mpr121_resume(uint8_t addr, uint8_t ecr)
     write_reg(addr, MPR121_ELECTRODE_CONFIG_REG, ecr);
 }
 
-void mpr121_debounce(uint8_t addr, uint8_t touch, uint8_t release)
+void mpr121_filter(uint8_t addr, uint8_t ffi, uint8_t sfi)
 {
     uint8_t ecr = mpr121_stop(addr);
-    write_reg(addr, 0x5B, (release & 0x07) << 4 | (touch & 0x07));
+
+    uint8_t afe = read_reg(addr, MPR121_AFE_CONFIG_REG);
+    write_reg(addr, MPR121_AFE_CONFIG_REG, (afe & 0x3f) | ffi << 6);
+    uint8_t acc = read_reg(addr, MPR121_AUTOCONFIG_CONTROL_0_REG);
+    write_reg(addr, MPR121_AUTOCONFIG_CONTROL_0_REG, (acc & 0x3f) | ffi << 6);
+    uint8_t fcr = read_reg(addr, MPR121_FILTER_CONFIG_REG);
+    write_reg(addr, MPR121_FILTER_CONFIG_REG, (fcr & 0xe7) | (sfi & 3) << 3);
+
     mpr121_resume(addr, ecr);
 }
 
@@ -184,3 +191,10 @@ void mpr121_sense(uint8_t addr, int8_t sense, int8_t *sense_keys)
     }
     mpr121_resume(addr, ecr);
 }
+
+void mpr121_debounce(uint8_t addr, uint8_t touch, uint8_t release)
+{
+    uint8_t ecr = mpr121_stop(addr);
+    write_reg(addr, 0x5B, (release & 0x07) << 4 | (touch & 0x07));
+    mpr121_resume(addr, ecr);
+}
diff --git a/firmware/src/mpr121.h b/firmware/src/mpr121.h
index 9972615..bf84a4c 100644
--- a/firmware/src/mpr121.h
+++ b/firmware/src/mpr121.h
@@ -8,8 +8,11 @@
 #define MP121_H
 
 void mpr121_init(uint8_t addr);
+
 uint16_t mpr121_touched(uint8_t addr);
-void mpr121_debounce(uint8_t addr, uint8_t touch, uint8_t release);
+
+void mpr121_filter(uint8_t addr, uint8_t ffi, uint8_t sfi);
 void mpr121_sense(uint8_t addr, int8_t sense, int8_t *sense_keys);
+void mpr121_debounce(uint8_t addr, uint8_t touch, uint8_t release);
 
 #endif
diff --git a/firmware/src/slider.c b/firmware/src/slider.c
index ce09d04..446f027 100644
--- a/firmware/src/slider.c
+++ b/firmware/src/slider.c
@@ -63,5 +63,7 @@ void slider_update_config()
         mpr121_debounce(MPR121_ADDR + m, chu_cfg->sense.debounce_touch,
                                          chu_cfg->sense.debounce_release);
         mpr121_sense(MPR121_ADDR + m, chu_cfg->sense.global, chu_cfg->sense.keys + m * 12);
+        mpr121_filter(MPR121_ADDR + m, chu_cfg->sense.filter & 0x0f,
+                                       (chu_cfg->sense.filter >> 4) & 0x0f);
     }
 }