diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 0462ef2..bf65f1e 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -143,32 +143,27 @@ void Channels::LogControlInfos() const {
 }
 
 void Channels::UpdateControlInfos() {
-  /*
-    for (auto &&option : std::vector<Option>{Option::GAIN, Option::BRIGHTNESS,
-                                             Option::CONTRAST}) {
-       control_infos_[option] = PuControlInfo(option);
+  for (auto &&option : std::vector<Option>{Option::BRIGHTNESS}) {
+    control_infos_[option] = PuControlInfo(option);
     }
 
     for (auto &&option : std::vector<Option>{
-             Option::FRAME_RATE, Option::IMU_FREQUENCY, Option::EXPOSURE_MODE,
+             Option::EXPOSURE_MODE, Option::DESIRED_BRIGHTNESS,
              Option::MAX_GAIN, Option::MAX_EXPOSURE_TIME,
-             Option::DESIRED_BRIGHTNESS, Option::IR_CONTROL, Option::HDR_MODE
              Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
              Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
-             Option::GYROSCOPE_LOW_PASS_FILTER})
-    {
-       control_infos_[option] = XuControlInfo(option);
+             Option::GYROSCOPE_LOW_PASS_FILTER}) {
+      control_infos_[option] = XuControlInfo(option);
     }
 
     if (VLOG_IS_ON(2)) {
-      for (auto &&it = control_infos_.begin(); it != control_infos_.end(); it++)
-    {
+      for (auto &&it = control_infos_.begin(); it != control_infos_.end();
+           it++) {
         VLOG(2) << it->first << ": min=" << it->second.min
                 << ", max=" << it->second.max << ", def=" << it->second.def
                 << ", cur=" << GetControlValue(it->first);
       }
     }
-  */
 }
 
 Channels::control_info_t Channels::GetControlInfo(const Option &option) const {
diff --git a/src/internal/config.cc b/src/internal/config.cc
index 62def10..f956b69 100644
--- a/src/internal/config.cc
+++ b/src/internal/config.cc
@@ -23,9 +23,11 @@ const std::map<Model, CapabilitiesSupports> capabilities_supports_map = {
 
 const std::map<Model, OptionSupports> option_supports_map = {
     {Model::STANDARD,
-     {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::ERASE_CHIP,
-      Option::MIN_EXPOSURE_TIME, Option::ACCELEROMETER_RANGE,
-      Option::GYROSCOPE_RANGE, Option::ACCELEROMETER_LOW_PASS_FILTER,
+     {Option::BRIGHTNESS, Option::EXPOSURE_MODE, Option::MAX_GAIN,
+      Option::MAX_EXPOSURE_TIME, Option::DESIRED_BRIGHTNESS,
+      Option::MIN_EXPOSURE_TIME, Option::ERASE_CHIP,
+      Option::ACCELEROMETER_RANGE, Option::GYROSCOPE_RANGE,
+      Option::ACCELEROMETER_LOW_PASS_FILTER,
       Option::GYROSCOPE_LOW_PASS_FILTER}}};
 
 const std::map<Model, std::map<Capabilities, StreamRequests>>
diff --git a/src/internal/motions.cc b/src/internal/motions.cc
index 0ef938f..3b49c6c 100644
--- a/src/internal/motions.cc
+++ b/src/internal/motions.cc
@@ -35,8 +35,8 @@ Motions::~Motions() {
 void Motions::SetMotionCallback(motion_callback_t callback) {
   motion_callback_ = callback;
   if (motion_callback_) {
-    // accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
-    // gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
+    accel_range = channels_->GetControlValue(Option::ACCELEROMETER_RANGE);
+    gyro_range = channels_->GetControlValue(Option::GYROSCOPE_RANGE);
     channels_->SetImuCallback([this](const ImuPacket &packet) {
       if (!motion_callback_ && !motion_datas_enabled_) {
         LOG(WARNING) << "";
diff --git a/tools/dataset/record.cc b/tools/dataset/record.cc
index dd5024d..1f699b9 100644
--- a/tools/dataset/record.cc
+++ b/tools/dataset/record.cc
@@ -33,23 +33,6 @@ int main(int argc, char *argv[]) {
     return 1;
   device->InitResolution(Resolution::RES_1280x400);
   device->SetStreamRequest(Format::BGR888, FrameRate::RATE_30_FPS);
-  /*
-  {  // auto-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 0);
-    device->SetOptionValue(Option::MAX_GAIN, 40);  // [0.48]
-    device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
-    device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
-  }
-  {  // manual-exposure
-    device->SetOptionValue(Option::EXPOSURE_MODE, 1);
-    device->SetOptionValue(Option::GAIN, 20);  // [0.48]
-    device->SetOptionValue(Option::BRIGHTNESS, 20);  // [0,240]
-    device->SetOptionValue(Option::CONTRAST, 20);  // [0,255]
-  }
-  device->SetOptionValue(Option::IR_CONTROL, 80);
-  device->SetOptionValue(Option::FRAME_RATE, 25);
-  device->SetOptionValue(Option::IMU_FREQUENCY, 500);
-  */
   device->LogOptionInfos();
 
   // Enable this will cache the motion datas until you get them.