diff --git a/README.adoc b/README.adoc
index de7e68e..4e27fac 100644
--- a/README.adoc
+++ b/README.adoc
@@ -1,6 +1,8 @@
 = USB Host Library for Arduino =
 
-The USBHost library allows an Arduino Due board to appear as a USB host, enabling it to communicate with peripherals like USB mice, keyboards and HTC Vive trackers.
+The USBHost library allows an Arduino Due board to appear as a USB host, enabling it to communicate with peripherals like USB mice, keyboards and HTC Vive trackers (requires at least tracker firmware v.20).
+
+For an USBHost library supporting Vive tracker for Arduino SAMD boards see [here](https://github.com/matzman666/USBHost-samd).
 
 For more information about this library please visit us at
 http://www.arduino.cc/en/Reference/USBHost
diff --git a/examples/ViveTracker/ViveTracker.ino b/examples/ViveTracker/ViveTracker.ino
index b3d0ae7..606558a 100644
--- a/examples/ViveTracker/ViveTracker.ino
+++ b/examples/ViveTracker/ViveTracker.ino
@@ -32,5 +32,5 @@ void loop() {
 		uint16_t batteryLevel = 0;
 		tracker.setTrackerStatus(buttons, padX, padY, trigger, batteryLevel);
 	}
-	delay(10); // According to HTC's documentation the interval to send data should be at least 10 ms.
+	delay(300);
 }
diff --git a/library.properties b/library.properties
index 755bffd..0d21c90 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=USBHost
-version=1.0.5
+version=1.0.6
 author=Arduino
 maintainer=Arduino <info@arduino.cc>
 sentence=Allows the communication with USB peripherals like mice, keyboards, and thumbdrives.
diff --git a/src/Usb.cpp b/src/Usb.cpp
index ce74b48..7b35f11 100644
--- a/src/Usb.cpp
+++ b/src/Usb.cpp
@@ -723,23 +723,28 @@ void USBHost::Task(void)
 	{
         case UHD_STATE_ERROR:
 			// Illegal state
+        	//Serial.write("UHD_STATE_ERROR\n");
             usb_task_state = USB_DETACHED_SUBSTATE_ILLEGAL;
 			lowspeed = 0;
             break;
 
         case UHD_STATE_DISCONNECTED:
+        	//Serial.write("UHD_STATE_DISCONNECTED\n");
 			// Disconnected state
             if ((usb_task_state & USB_STATE_MASK) != USB_STATE_DETACHED)
 			{
+            	//Serial.write("UHD_STATE_DISCONNECTED2\n");
                 usb_task_state = USB_DETACHED_SUBSTATE_INITIALIZE;
 				lowspeed = 0;
             }
             break;
 
         case UHD_STATE_CONNECTED:
+        	//Serial.write("UHD_STATE_CONNECTED\n");
 			// Attached state
             if ((usb_task_state & USB_STATE_MASK) == USB_STATE_DETACHED)
 			{
+            	//Serial.write("UHD_STATE_CONNECTED2\n");
                 delay = millis() + USB_SETTLE_DELAY;
                 usb_task_state = USB_ATTACHED_SUBSTATE_SETTLE;
 				//FIXME TODO: lowspeed = 0 ou 1;  already done by hardware?
diff --git a/src/ViveTrackerController.h b/src/ViveTrackerController.h
index fa7bb66..cdc05b3 100644
--- a/src/ViveTrackerController.h
+++ b/src/ViveTrackerController.h
@@ -19,6 +19,12 @@
 #define VIVETRACKER_BUTTON_PADTRIGGERED  (1 << 4)
 #define VIVETRACKER_BUTTON_PADTOUCHED    (1 << 5)
 
+#define VIVETRACKER_LPF_DEFAULT          0
+#define VIVETRACKER_LPF_184HZ            0
+#define VIVETRACKER_LPF_5HZ              1
+#define VIVETRACKER_LPF_10HZ             2
+#define VIVETRACKER_LPF_20HZ             3
+
 
 /*
  * The format of the USB HID feature reports is unfortunately not correct in HTC's documentation.
@@ -32,12 +38,13 @@
  */
 struct __attribute__((__packed__)) ViveTrackerFeatureReportB3 {
 	uint8_t address = 0xB3;
-	uint8_t payloadSize = 3;
+	uint8_t payloadSize = 4;
 	uint8_t hostType;
 	uint8_t chargeEnable;
 	uint8_t osType;
-	ViveTrackerFeatureReportB3(uint8_t hostType = 3, uint8_t chargeEnable = 0, uint8_t osType = 0)
-		: hostType(hostType), chargeEnable(chargeEnable), osType(osType) {}
+	uint8_t lpfConfig;
+	ViveTrackerFeatureReportB3(uint8_t hostType = 3, uint8_t chargeEnable = 0, uint8_t osType = 0, uint8_t lpfConfig = VIVETRACKER_LPF_DEFAULT)
+		: hostType(hostType), chargeEnable(chargeEnable), osType(osType), lpfConfig(lpfConfig) {}
 };
 
 /**
@@ -99,7 +106,8 @@ class ViveTrackerBoot : public HIDBoot<HID_PROTOCOL_NONE, HID_NONE_SUBCLASS> {
  */
 class ViveTrackerController {
 public:
-	ViveTrackerController(USBHost &usb) : usb(usb), hostTracker(&usb) {}
+	ViveTrackerController(USBHost &usb, uint8_t hostType = 3, uint8_t chargeEnabled = 0, uint8_t osType = 0)
+		: usb(usb), hostTracker(&usb), _hostType(hostType), _chargeEnabled(chargeEnabled), _osType(osType) {}
 
 	/**
 	 * Returns whether a vive tracker is connected and initialized.
@@ -131,6 +139,19 @@ class ViveTrackerController {
 		return -1;
 	}
 
+	uint32_t setChargeEnabled(uint8_t enabled, bool sendUsbReport = true) {
+		_chargeEnabled = enabled;
+		if (sendUsbReport) {
+			return sendUsbReportB3(_hostType, _chargeEnabled, _osType, VIVETRACKER_LPF_DEFAULT);
+		} else {
+			return 0;
+		}
+	}
+
+	uint32_t setLpfConfig(uint8_t lpfConfig) {
+		return sendUsbReportB3(_hostType, _chargeEnabled, _osType, lpfConfig);
+	}
+
 	/**
 	 * Process usb and vive tracker controller tasks.
 	 *
@@ -149,10 +170,18 @@ class ViveTrackerController {
 	USBHost &usb;
 	ViveTrackerBoot hostTracker;
 	bool _isInitialized = false;
+	uint8_t _hostType;
+	uint8_t _chargeEnabled;
+	uint8_t _osType;
+
+	uint32_t _initConnection() {
+		return sendUsbReportB3(_hostType, _chargeEnabled, _osType, VIVETRACKER_LPF_DEFAULT);
+	}
 
-	uint32_t _initConnection(uint8_t hostType = 3, uint8_t chargeEnable = 0, uint8_t osType = 0) {
-		ViveTrackerFeatureReportB3 report(hostType, chargeEnable, osType);
+	uint32_t sendUsbReportB3(uint8_t hostType, uint8_t chargeEnabled, uint8_t osType, uint8_t lpfConfig) {
+		ViveTrackerFeatureReportB3 report(hostType, chargeEnabled, osType, lpfConfig);
 		return hostTracker.SetReport(0, 2, 3, 0, sizeof(ViveTrackerFeatureReportB3), (uint8_t*)&report);
+
 	}
 };