diff --git a/IMU/main/Kconfig.projbuild b/IMU/main/Kconfig.projbuild
index 49e9426..e7812d6 100755
--- a/IMU/main/Kconfig.projbuild
+++ b/IMU/main/Kconfig.projbuild
@@ -1,7 +1,8 @@
-menu "Example Configuration"
+menu "ESP32 IMU Project Configuration"
 
     orsource "$IDF_PATH/examples/common_components/env_caps/$IDF_TARGET/Kconfig.env_caps"
 
+    menu "I2C Master Configuration"
     config I2C_MASTER_SCL
         int "SCL GPIO Num"
         range ENV_GPIO_RANGE_MIN ENV_GPIO_OUT_RANGE_MAX
@@ -21,22 +22,20 @@ menu "Example Configuration"
         default 400000
         help
             I2C Speed of Master device.
+    endmenu
 
-    config WIFI_SSID
-        string "WiFi SSID"
-        default "YourNetworkName"
+    config ENV_MQTT_ENABLED
+        bool "Enable MQTT Communication"
+        default y
         help
-            SSID of WiFi network to connect to.
-
-    config WIFI_PASSWORD
-        string "WiFi Password"
-        default "YourPassword"
-        help
-            Password of WiFi network to connect to.
+            Enable this option to use MQTT for communication.
+            If disabled, communication will use usb uart connection.
 
+    menu "MQTT Configuration"
+    depends on ENV_MQTT_ENABLED
     config MQTT_BROKER_URI
         string "MQTT Broker URI"
-        default "mqtt://192.168.178.26:1883"
+        default "mqtt://192.168.4.2:1883"
         help
             URI of the MQTT broker to connect to.
 
@@ -45,23 +44,43 @@ menu "Example Configuration"
         default "esp32/imu"
         help
             MQTT topic to publish IMU data to.
+    endmenu
 
+    menu "WiFi Access Point Configuration"
+    depends on ENV_MQTT_ENABLED
     config WIFI_AP_MODE
         bool "Enable WiFi AP Mode"
-        default n
+        default y
         help
             Enable this option to start the device in Access Point mode.
             If disabled, the device will start in Station mode.
 
+    config WIFI_SSID
+        string "WiFi SSID"
+        default "YourNetworkName"
+        depends on !WIFI_AP_MODE
+        help
+            SSID of WiFi network to connect to.
+
+    config WIFI_PASSWORD
+        string "WiFi Password"
+        default "YourPassword"
+        depends on !WIFI_AP_MODE
+        help
+            Password of WiFi network to connect to.
+
     config WIFI_AP_SSID
         string "WiFi AP SSID"
         default "ESP32_IMU_AP"
+        depends on WIFI_AP_MODE
         help
             SSID of the WiFi Access Point when in AP mode.
 
     config WIFI_AP_PASSWORD
         string "WiFi AP Password"
         default "esp32imuap"
+        depends on WIFI_AP_MODE
         help
             Password of the WiFi Access Point when in AP mode.
+    endmenu
 endmenu
diff --git a/IMU/main/mpu6886.c b/IMU/main/mpu6886.c
index 39db089..c9853b2 100644
--- a/IMU/main/mpu6886.c
+++ b/IMU/main/mpu6886.c
@@ -2,8 +2,8 @@
 #include <string.h>
 
 
-// New: initialise WiFi in either STA or AP mode. Pass ap_mode=true to start an Access Point.
-static void wifi_init(bool ap_mode)
+#ifdef CONFIG_ENV_MQTT_ENABLED
+static void wifi_init()
 {
     ESP_ERROR_CHECK(nvs_flash_init());
     ESP_ERROR_CHECK(esp_netif_init());
@@ -12,54 +12,41 @@ static void wifi_init(bool ap_mode)
     wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
     ESP_ERROR_CHECK(esp_wifi_init(&cfg));
 
-    if (ap_mode) {
-        esp_netif_create_default_wifi_ap();
+#ifdef CONFIG_WIFI_AP_MODE
+    esp_netif_create_default_wifi_ap();
 
-        wifi_config_t wifi_config = { 0 };
-        strncpy((char *)wifi_config.ap.ssid, CONFIG_WIFI_AP_SSID, sizeof(wifi_config.ap.ssid));
-        wifi_config.ap.ssid_len = strlen(CONFIG_WIFI_AP_SSID);
-        strncpy((char *)wifi_config.ap.password, CONFIG_WIFI_AP_PASSWORD, sizeof(wifi_config.ap.password));
-        wifi_config.ap.max_connection = 4;
-        if (strlen(CONFIG_WIFI_AP_PASSWORD) == 0) {
-            wifi_config.ap.authmode = WIFI_AUTH_OPEN;
-        } else {
-            wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
-        }
-
-        ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
-        ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
-        ESP_ERROR_CHECK(esp_wifi_start());
-        ESP_LOGI("WIFI", "AP started SSID:%s", CONFIG_WIFI_AP_SSID);
+    wifi_config_t wifi_config = { 0 };
+    strncpy((char*)wifi_config.ap.ssid, CONFIG_WIFI_AP_SSID, sizeof(wifi_config.ap.ssid));
+    wifi_config.ap.ssid_len = strlen(CONFIG_WIFI_AP_SSID);
+    strncpy((char*)wifi_config.ap.password, CONFIG_WIFI_AP_PASSWORD, sizeof(wifi_config.ap.password));
+    wifi_config.ap.max_connection = 4;
+    if (strlen(CONFIG_WIFI_AP_PASSWORD) == 0) {
+        wifi_config.ap.authmode = WIFI_AUTH_OPEN;
     } else {
-        esp_netif_create_default_wifi_sta();
-
-        wifi_config_t wifi_config = {
-            .sta = {
-                .ssid = CONFIG_WIFI_SSID,
-                .password = CONFIG_WIFI_PASSWORD,
-            },
-        };
-
-        ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
-        ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
-        ESP_ERROR_CHECK(esp_wifi_start());
-        ESP_ERROR_CHECK(esp_wifi_connect());
-        ESP_LOGI("WIFI", "STA started, connecting to: %s", CONFIG_WIFI_SSID);
+        wifi_config.ap.authmode = WIFI_AUTH_WPA_WPA2_PSK;
     }
-}
 
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_AP));
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_AP, &wifi_config));
+    ESP_ERROR_CHECK(esp_wifi_start());
+    ESP_LOGI("WIFI", "AP started SSID:%s", CONFIG_WIFI_AP_SSID);
+#else
+    esp_netif_create_default_wifi_sta();
 
-static esp_err_t mpu6886_write_byte(mpu6886_t *dev, uint8_t reg, uint8_t data) {
-    uint8_t tx[2] = { reg, data };
-    return i2c_master_write_to_device(dev->i2c_port, dev->address, tx, sizeof(tx), pdMS_TO_TICKS(100));
-}
+    wifi_config_t wifi_config = {
+        .sta = {
+            .ssid = CONFIG_WIFI_SSID,
+            .password = CONFIG_WIFI_PASSWORD,
+        },
+    };
 
-static esp_err_t mpu6886_read_bytes(mpu6886_t *dev, uint8_t reg, uint8_t *data, size_t len) {
-    return i2c_master_write_read_device(dev->i2c_port, dev->address, &reg, 1, data, len, pdMS_TO_TICKS(100));
-}
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_set_config(WIFI_IF_STA, &wifi_config));
+    ESP_ERROR_CHECK(esp_wifi_start());
+    ESP_ERROR_CHECK(esp_wifi_connect());
+    ESP_LOGI("WIFI", "STA started, connecting to: %s", CONFIG_WIFI_SSID);
 
-static int16_t bytes_to_int16(uint8_t high, uint8_t low) {
-    return (int16_t)((high << 8) | low);
+#endif
 }
 
 static void mqtt_app_start(void)
@@ -75,9 +62,22 @@ static void mqtt_app_start(void)
     }
     esp_mqtt_client_start(s_mqtt_client);
 }
+#endif // CONFIG_ENV_MQTT_ENABLED
 
-// new: detect accel/gyro full-scale selections and set divisors accordingly
-static esp_err_t mpu6886_update_sensitivity(mpu6886_t *dev)
+static esp_err_t mpu6886_write_byte(mpu6886_t* dev, uint8_t reg, uint8_t data) {
+    uint8_t tx[2] = { reg, data };
+    return i2c_master_write_to_device(dev->i2c_port, dev->address, tx, sizeof(tx), pdMS_TO_TICKS(100));
+}
+
+static esp_err_t mpu6886_read_bytes(mpu6886_t* dev, uint8_t reg, uint8_t* data, size_t len) {
+    return i2c_master_write_read_device(dev->i2c_port, dev->address, &reg, 1, data, len, pdMS_TO_TICKS(100));
+}
+
+static int16_t bytes_to_int16(uint8_t high, uint8_t low) {
+    return (int16_t)((high << 8) | low);
+}
+
+static esp_err_t mpu6886_update_sensitivity(mpu6886_t* dev)
 {
     uint8_t aconf = 0, gconf = 0;
     esp_err_t err;
@@ -123,7 +123,7 @@ static esp_err_t i2c_master_init(i2c_port_t i2c_num, gpio_num_t sda_io, gpio_num
     return i2c_driver_install(i2c_num, I2C_MODE_MASTER, 0, 0, 0);
 }
 
-esp_err_t mpu6886_init(mpu6886_t *dev, i2c_port_t i2c_port) {
+esp_err_t mpu6886_init(mpu6886_t* dev, i2c_port_t i2c_port) {
     dev->i2c_port = i2c_port;
     dev->address = MPU6886_ADDR;
 
@@ -146,8 +146,8 @@ esp_err_t mpu6886_init(mpu6886_t *dev, i2c_port_t i2c_port) {
     mpu6886_write_byte(dev, MPU6886_ACCEL_CONFIG, 0x00);
     mpu6886_write_byte(dev, MPU6886_GYRO_CONFIG, 0x00);
 
-    dev->gyro_offset = (vec3_t){0, 0, 0};
-    dev->accel_offset = (vec3_t){0, 0, 0};
+    dev->gyro_offset = (vec3_t) { 0, 0, 0 };
+    dev->accel_offset = (vec3_t) { 0, 0, 0 };
 
     // detect actual sensitivities from device registers and set divisors
     if (mpu6886_update_sensitivity(dev) != ESP_OK) {
@@ -159,7 +159,7 @@ esp_err_t mpu6886_init(mpu6886_t *dev, i2c_port_t i2c_port) {
     return ESP_OK;
 }
 
-esp_err_t mpu6886_read_accel(mpu6886_t *dev, vec3_t *accel) {
+esp_err_t mpu6886_read_accel(mpu6886_t* dev, vec3_t* accel) {
     uint8_t buf[6];
     esp_err_t ret = mpu6886_read_bytes(dev, MPU6886_ACCEL_XOUT_H, buf, 6);
     if (ret != ESP_OK) return ret;
@@ -171,7 +171,7 @@ esp_err_t mpu6886_read_accel(mpu6886_t *dev, vec3_t *accel) {
     return ESP_OK;
 }
 
-esp_err_t mpu6886_read_gyro(mpu6886_t *dev, vec3_t *gyro) {
+esp_err_t mpu6886_read_gyro(mpu6886_t* dev, vec3_t* gyro) {
     uint8_t buf[6];
     esp_err_t ret = mpu6886_read_bytes(dev, MPU6886_GYRO_XOUT_H, buf, 6);
     if (ret != ESP_OK) return ret;
@@ -182,7 +182,7 @@ esp_err_t mpu6886_read_gyro(mpu6886_t *dev, vec3_t *gyro) {
     return ESP_OK;
 }
 
-esp_err_t mpu6886_read_temp(mpu6886_t *dev, float *temp) {
+esp_err_t mpu6886_read_temp(mpu6886_t* dev, float* temp) {
     static uint8_t buf[2];
     esp_err_t ret = mpu6886_read_bytes(dev, MPU6886_TEMP_OUT_H, buf, 2);
     if (ret != ESP_OK) return ret;
@@ -192,8 +192,8 @@ esp_err_t mpu6886_read_temp(mpu6886_t *dev, float *temp) {
     return ESP_OK;
 }
 
-esp_err_t mpu6886_calibrate_gyro(mpu6886_t *dev, int samples, int delay_ms) {
-    vec3_t sum = {0, 0, 0}, g;
+esp_err_t mpu6886_calibrate_gyro(mpu6886_t* dev, int samples, int delay_ms) {
+    vec3_t sum = { 0, 0, 0 }, g;
     for (int i = 0; i < samples; i++) {
         if (mpu6886_read_gyro(dev, &g) != ESP_OK) return ESP_FAIL;
         sum.x += g.x;
@@ -207,11 +207,11 @@ esp_err_t mpu6886_calibrate_gyro(mpu6886_t *dev, int samples, int delay_ms) {
     return ESP_OK;
 }
 
-esp_err_t mpu6886_calibrate_accel(mpu6886_t *dev, int samples, int delay_ms)
+esp_err_t mpu6886_calibrate_accel(mpu6886_t* dev, int samples, int delay_ms)
 {
     // Calibrate accelerometer offsets while the device is stationary.
     // The function will detect the device full-scale and compute offsets in m/s^2.
-    vec3_t sum = {0, 0, 0}, a;
+    vec3_t sum = { 0, 0, 0 }, a;
     for (int i = 0; i < samples; i++) {
         if (mpu6886_read_accel(dev, &a) != ESP_OK) {
             return ESP_FAIL;
@@ -244,28 +244,24 @@ void app_main(void)
     }
 
 
-    // Start WiFi: set CONFIG_WIFI_AP_MODE in sdkconfig to build in AP mode,
-    // otherwise the default is STA mode. You can also call wifi_init(true)
-    // or wifi_init(false) directly to toggle at runtime.
-#ifdef CONFIG_WIFI_AP_MODE
-    wifi_init(true);
-#else
-    wifi_init(false);
+#ifdef CONFIG_ENV_MQTT_ENABLED
+    wifi_init();
+    // Start MQTT client (will retry until network is available)
+    mqtt_app_start();
 #endif
 
+
     mpu6886_t mpu;
     mpu.i2c_port = I2C_NUM_0;
     mpu.address = MPU6886_ADDR;
 
     esp_err_t ret = mpu6886_init(&mpu, I2C_NUM_0);
     if (ret != ESP_OK) {
-        // Handle initialization error
         ESP_LOGE("MPU6886", "init failed");
         return;
     }
 
-    // Start MQTT client (will retry until network is available)
-    mqtt_app_start();
+
 
     mpu6886_calibrate_gyro(&mpu, 100, 10);
     mpu6886_calibrate_accel(&mpu, 100, 10);
@@ -276,17 +272,13 @@ void app_main(void)
         mpu6886_read_accel(&mpu, &accel);
         mpu6886_read_gyro(&mpu, &gyro);
         mpu6886_read_temp(&mpu, &temp);
-        // ESP_LOGI("MPU6886", "Accel: X=%8.2f Y=%8.2f Z=%8.2f m/s² | Gyro: X=%8.2f Y=%8.2f Z=%8.2f rad/s | Temp: %8.2f °C",
-            //  accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z, temp);
-        // printf("aX=%8.2f aY=%8.2f aZ=%8.2f m/s² | gX=%8.2f gY=%8.2f gZ=%8.2f rad/s | Temp: %8.2f °C\n",
-        //      accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z, temp);
 
+#ifndef CONFIG_ENV_MQTT_ENABLED
         printf("{\"accel\":{\"x\":%8.3f,\"y\":%8.3f,\"z\":%8.3f},\"gyro\":{\"x\":%8.3f,\"y\":%8.3f,\"z\":%8.3f},\"Temp\":%8.2f}\n",
-               accel.x, accel.y, accel.z,
-               gyro.x, gyro.y, gyro.z,
-               temp);
-
-        // Publish readings as JSON over MQTT if client available
+           accel.x, accel.y, accel.z,
+           gyro.x, gyro.y, gyro.z,
+           temp);
+#else
         if (s_mqtt_client != NULL) {
             char payload[256];
             int n = snprintf(payload, sizeof(payload),
@@ -301,6 +293,7 @@ void app_main(void)
                 ESP_LOGW("MQTT", "payload truncated or encoding error");
             }
         }
+#endif
         vTaskDelay(pdMS_TO_TICKS(500));
     }
 }
diff --git a/IMU/sdkconfig b/IMU/sdkconfig
index ba2dde6..129d42a 100644
--- a/IMU/sdkconfig
+++ b/IMU/sdkconfig
@@ -433,21 +433,38 @@ CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table
 
 #
-# Example Configuration
+# ESP32 IMU Project Configuration
 #
 CONFIG_ENV_GPIO_RANGE_MIN=0
 CONFIG_ENV_GPIO_RANGE_MAX=39
 CONFIG_ENV_GPIO_IN_RANGE_MAX=39
 CONFIG_ENV_GPIO_OUT_RANGE_MAX=33
+
+#
+# I2C Master Configuration
+#
 CONFIG_I2C_MASTER_SCL=22
 CONFIG_I2C_MASTER_SDA=21
 CONFIG_I2C_MASTER_FREQUENCY=100000
+# end of I2C Master Configuration
+
+CONFIG_ENV_MQTT_ENABLED=y
+
+#
+# MQTT Configuration
+#
 CONFIG_MQTT_BROKER_URI="mqtt://192.168.4.2:1883"
 CONFIG_MQTT_TOPIC="esp32/imu"
+# end of MQTT Configuration
+
+#
+# WiFi Access Point Configuration
+#
 CONFIG_WIFI_AP_MODE=y
 CONFIG_WIFI_AP_SSID="ESP32_IMU_AP"
 CONFIG_WIFI_AP_PASSWORD="esp32imuap"
-# end of Example Configuration
+# end of WiFi Access Point Configuration
+# end of ESP32 IMU Project Configuration
 
 #
 # Compiler options
diff --git a/IMU/sdkconfig.old b/IMU/sdkconfig.old
index ae4b2c3..7c78ed8 100644
--- a/IMU/sdkconfig.old
+++ b/IMU/sdkconfig.old
@@ -433,21 +433,38 @@ CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table
 
 #
-# Example Configuration
+# ESP32 IMU Project Configuration
 #
 CONFIG_ENV_GPIO_RANGE_MIN=0
 CONFIG_ENV_GPIO_RANGE_MAX=39
 CONFIG_ENV_GPIO_IN_RANGE_MAX=39
 CONFIG_ENV_GPIO_OUT_RANGE_MAX=33
+
+#
+# I2C Master Configuration
+#
 CONFIG_I2C_MASTER_SCL=22
 CONFIG_I2C_MASTER_SDA=21
 CONFIG_I2C_MASTER_FREQUENCY=100000
-CONFIG_MQTT_BROKER_URI="mqtt://192.168.178.200:1883"
+# end of I2C Master Configuration
+
+CONFIG_ENV_MQTT_ENABLED=y
+
+#
+# MQTT Configuration
+#
+CONFIG_MQTT_BROKER_URI="mqtt://192.168.4.2:1883"
 CONFIG_MQTT_TOPIC="esp32/imu"
+# end of MQTT Configuration
+
+#
+# WiFi Access Point Configuration
+#
 CONFIG_WIFI_AP_MODE=y
 CONFIG_WIFI_AP_SSID="ESP32_IMU_AP"
 CONFIG_WIFI_AP_PASSWORD="esp32imuap"
-# end of Example Configuration
+# end of WiFi Access Point Configuration
+# end of ESP32 IMU Project Configuration
 
 #
 # Compiler options