diff --git a/Production/Firmware/chu_pico.uf2 b/Production/Firmware/chu_pico.uf2
index f2e1729..579b28b 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 9f3a4b7..6758a07 100644
--- a/firmware/src/cmd.c
+++ b/firmware/src/cmd.c
@@ -98,7 +98,9 @@ static void disp_tof()
 static void disp_sense()
 {
     printf("[Sense]\n");
-    printf("  Filter: %d, %d\n", chu_cfg->sense.filter >> 4, chu_cfg->sense.filter & 0xf);
+    printf("  Filter: %u, %u, %u\n", chu_cfg->sense.filter >> 6,
+                                    (chu_cfg->sense.filter >> 4) & 0x03,
+                                    chu_cfg->sense.filter & 0x07);
     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");
@@ -285,22 +287,29 @@ static void handle_tof(int argc, char *argv[])
 
 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)) {
+    const char *usage = "Usage: filter <first> <second> [interval]\n"
+                        "    first: First iteration [0..3]\n"
+                        "   second: Second iteration [0..3]\n"
+                        " interval: Interval of second iterations [0..7]\n";
+    if ((argc < 2) || (argc > 3)) {
         printf(usage);
         return;
     }
 
     int ffi = extract_non_neg_int(argv[0], 0);
     int sfi = extract_non_neg_int(argv[1], 0);
+    int intv = chu_cfg->sense.filter & 0x07;
+    if (argc == 3) {
+        intv = extract_non_neg_int(argv[2], 0);
+    }
 
-    if ((ffi < 0) || (ffi > 3) || (sfi < 0) || (sfi > 3)) {
+    if ((ffi < 0) || (ffi > 3) || (sfi < 0) || (sfi > 3) ||
+        (intv < 0) || (intv > 7)) {
         printf(usage);
         return;
     }
 
-    chu_cfg->sense.filter = (ffi << 4) | sfi;
+    chu_cfg->sense.filter = (ffi << 6) | (sfi << 4) | intv;
 
     slider_update_config();
     config_changed();
diff --git a/firmware/src/mpr121.c b/firmware/src/mpr121.c
index 215db6a..0d1ebba 100644
--- a/firmware/src/mpr121.c
+++ b/firmware/src/mpr121.c
@@ -174,7 +174,7 @@ static uint8_t mpr121_resume(uint8_t addr, uint8_t ecr)
     write_reg(addr, MPR121_ELECTRODE_CONFIG_REG, ecr);
 }
 
-void mpr121_filter(uint8_t addr, uint8_t ffi, uint8_t sfi)
+void mpr121_filter(uint8_t addr, uint8_t ffi, uint8_t sfi, uint8_t esi)
 {
     uint8_t ecr = mpr121_stop(addr);
 
@@ -183,7 +183,8 @@ void mpr121_filter(uint8_t addr, uint8_t ffi, uint8_t sfi)
     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);
+    write_reg(addr, MPR121_FILTER_CONFIG_REG,
+              (fcr & 0xe0) | ((sfi & 3) << 3) | esi);
 
     mpr121_resume(addr, ecr);
 }
diff --git a/firmware/src/mpr121.h b/firmware/src/mpr121.h
index 5c47ef6..2156999 100644
--- a/firmware/src/mpr121.h
+++ b/firmware/src/mpr121.h
@@ -11,8 +11,7 @@ void mpr121_init(uint8_t addr);
 
 uint16_t mpr121_touched(uint8_t addr);
 void mpr121_raw(uint8_t addr, uint16_t *raw, int num);
-
-void mpr121_filter(uint8_t addr, uint8_t ffi, uint8_t sfi);
+void mpr121_filter(uint8_t addr, uint8_t ffi, uint8_t sfi, uint8_t esi);
 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);
 
diff --git a/firmware/src/slider.c b/firmware/src/slider.c
index ba55e29..4c3ce89 100644
--- a/firmware/src/slider.c
+++ b/firmware/src/slider.c
@@ -93,8 +93,10 @@ void slider_update_config()
     for (int m = 0; m < 3; m++) {
         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);
+        mpr121_sense(MPR121_ADDR + m, chu_cfg->sense.global,
+                                      chu_cfg->sense.keys + m * 12);
+        mpr121_filter(MPR121_ADDR + m, chu_cfg->sense.filter >> 6,
+                                       (chu_cfg->sense.filter >> 4) & 0x03,
+                                       chu_cfg->sense.filter & 0x07);
     }
 }