diff --git a/sdkconfig b/sdkconfig
index 7b9ea85..7d27e44 100644
--- a/sdkconfig
+++ b/sdkconfig
@@ -18,6 +18,7 @@ CONFIG_MAKE_WARN_UNDEFINED_VARIABLES=y
 CONFIG_APP_COMPILE_TIME_DATE=y
 CONFIG_APP_EXCLUDE_PROJECT_VER_VAR=
 CONFIG_APP_EXCLUDE_PROJECT_NAME_VAR=
+CONFIG_APP_RETRIEVE_LEN_ELF_SHA=16
 
 #
 # Arduino Configuration
@@ -35,6 +36,7 @@ CONFIG_ARDUINO_EVENT_RUNNING_CORE=1
 CONFIG_ARDUINO_UDP_RUN_CORE0=
 CONFIG_ARDUINO_UDP_RUN_CORE1=y
 CONFIG_ARDUINO_UDP_RUN_NO_AFFINITY=
+CONFIG_ARDUINO_UDP_TASK_PRIORITY=3
 CONFIG_ARDUINO_UDP_RUNNING_CORE=1
 CONFIG_DISABLE_HAL_LOCKS=
 
@@ -189,6 +191,8 @@ CONFIG_BTDM_CONTROLLER_BR_EDR_MAX_SYNC_CONN=0
 CONFIG_BTDM_CTRL_BR_EDR_SCO_DATA_PATH_EFF=0
 CONFIG_BTDM_CTRL_AUTO_LATENCY=
 CONFIG_BTDM_CTRL_AUTO_LATENCY_EFF=
+CONFIG_BTDM_CTRL_LEGACY_AUTH_VENDOR_EVT=y
+CONFIG_BTDM_CTRL_LEGACY_AUTH_VENDOR_EVT_EFF=y
 CONFIG_BTDM_CONTROLLER_BLE_MAX_CONN_EFF=3
 CONFIG_BTDM_CONTROLLER_BR_EDR_MAX_ACL_CONN_EFF=2
 CONFIG_BTDM_CONTROLLER_BR_EDR_MAX_SYNC_CONN_EFF=0
@@ -298,13 +302,21 @@ CONFIG_MFN56_4X=
 #
 # Object Detection
 #
-CONFIG_LSSH_SPARSE_MN_5=y
-CONFIG_LSSH_WITH_LANDMARK=
+CONFIG_DETECT_WITH_LANDMARK=
+
+#
+# Pose Estimation
+#
+CONFIG_HD_NANO1=y
+CONFIG_HD_LITE1=
+CONFIG_HP_NANO1=y
+CONFIG_HP_LITE1=
 
 #
 # ESP32-specific
 #
 CONFIG_IDF_TARGET_ESP32=y
+CONFIG_ESP32_ECO3_CACHE_LOCK_FIX=y
 CONFIG_ESP32_REV_MIN_0=y
 CONFIG_ESP32_REV_MIN_1=
 CONFIG_ESP32_REV_MIN_2=
@@ -352,6 +364,7 @@ CONFIG_D2WD_PSRAM_CS_IO=10
 #
 CONFIG_PICO_PSRAM_CS_IO=10
 CONFIG_SPIRAM_SPIWP_SD3_PIN=7
+CONFIG_SPIRAM_2T_MODE=
 CONFIG_MEMMAP_TRACEMEM=
 CONFIG_MEMMAP_TRACEMEM_TWOBANKS=
 CONFIG_ESP32_TRAX=
@@ -463,11 +476,12 @@ CONFIG_PM_ENABLE=
 #
 # Camera configuration
 #
-CONFIG_OV2640_SUPPORT=y
+CONFIG_OV7670_SUPPORT=y
 CONFIG_OV7725_SUPPORT=y
+CONFIG_NT99141_SUPPORT=y
+CONFIG_OV2640_SUPPORT=y
 CONFIG_OV3660_SUPPORT=y
 CONFIG_OV5640_SUPPORT=y
-CONFIG_SCCB_HARDWARE_I2C=y
 CONFIG_SCCB_HARDWARE_I2C_PORT0=
 CONFIG_SCCB_HARDWARE_I2C_PORT1=y
 CONFIG_CAMERA_CORE0=
@@ -647,11 +661,14 @@ CONFIG_LWIP_IRAM_OPTIMIZATION=
 CONFIG_LWIP_MAX_SOCKETS=10
 CONFIG_LWIP_RANDOMIZE_INITIAL_LOCAL_PORTS=y
 CONFIG_USE_ONLY_LWIP_SELECT=
+CONFIG_LWIP_SO_LINGER=
 CONFIG_LWIP_SO_REUSE=y
 CONFIG_LWIP_SO_REUSE_RXTOALL=y
 CONFIG_LWIP_SO_RCVBUF=y
-CONFIG_LWIP_IP_FRAG=
-CONFIG_LWIP_IP_REASSEMBLY=
+CONFIG_LWIP_IP4_FRAG=y
+CONFIG_LWIP_IP6_FRAG=y
+CONFIG_LWIP_IP4_REASSEMBLY=
+CONFIG_LWIP_IP6_REASSEMBLY=
 CONFIG_LWIP_STATS=
 CONFIG_LWIP_ETHARP_TRUST_IP_MAC=y
 CONFIG_ESP_GRATUITOUS_ARP=y
@@ -687,6 +704,7 @@ CONFIG_ESP_TCP_KEEP_CONNECTION_WHEN_IP_CHANGES=
 CONFIG_TCP_OVERSIZE_MSS=y
 CONFIG_TCP_OVERSIZE_QUARTER_MSS=
 CONFIG_TCP_OVERSIZE_DISABLE=
+CONFIG_LWIP_TCP_RTO_TIME=3000
 
 #
 # UDP
@@ -698,6 +716,8 @@ CONFIG_TCPIP_TASK_AFFINITY_NO_AFFINITY=
 CONFIG_TCPIP_TASK_AFFINITY_CPU0=y
 CONFIG_TCPIP_TASK_AFFINITY_CPU1=
 CONFIG_TCPIP_TASK_AFFINITY=0x0
+CONFIG_LWIP_IPV6_MEMP_NUM_ND6_QUEUE=3
+CONFIG_LWIP_IPV6_ND6_NUM_NEIGHBORS=5
 CONFIG_PPP_SUPPORT=y
 CONFIG_PPP_NOTIFY_PHASE_SUPPORT=
 CONFIG_PPP_PAP_SUPPORT=y
@@ -925,3 +945,8 @@ CONFIG_WL_SECTOR_SIZE=4096
 # Wi-Fi Provisioning Manager
 #
 CONFIG_WIFI_PROV_SCAN_MAX_ENTRIES=16
+
+#
+# Supplicant
+#
+CONFIG_WPA_WPS_WARS=
diff --git a/tools/copy-to-arduino.sh b/tools/copy-to-arduino.sh
index 386b139..7c2f815 100755
--- a/tools/copy-to-arduino.sh
+++ b/tools/copy-to-arduino.sh
@@ -1,10 +1,12 @@
 #!/bin/bash
 source ./tools/config.sh
 
-if [[ "$AR_OS" == "macos" ]]; then
-	ESP32_ARDUINO="$HOME/Documents/Arduino/hardware/espressif/esp32"
-else
-	ESP32_ARDUINO="$HOME/Arduino/hardware/espressif/esp32"
+if [ -z $ESP32_ARDUINO ]; then
+    if [[ "$AR_OS" == "macos" ]]; then
+    	ESP32_ARDUINO="$HOME/Documents/Arduino/hardware/espressif/esp32"
+    else
+    	ESP32_ARDUINO="$HOME/Arduino/hardware/espressif/esp32"
+    fi
 fi
 
 if ! [ -d "$ESP32_ARDUINO" ]; then