diff --git a/README.md b/README.md
index 6c1c41b4..82419a8e 100644
--- a/README.md
+++ b/README.md
@@ -93,9 +93,9 @@ The folder of [examples](examples) contains sample applications demonstrating th
 
 Take one Face Detection as an example.
 
-1. Get into one example folder `esp-who/examples/single_chip/detection_with_command_line`.
+1. Get into one example folder `esp-who/examples/single_chip/face_detection_with_command_line`.
 ```
-cd esp-who/examples/single_chip/detection_with_command_line
+cd esp-who/examples/single_chip/face_detection_with_command_line
 ```
 
 2. Compile and flash the project.
diff --git a/components/esp32-camera b/components/esp32-camera
index af931850..01070937 160000
--- a/components/esp32-camera
+++ b/components/esp32-camera
@@ -1 +1 @@
-Subproject commit af931850f4a32566f51403758c3a49032327225c
+Subproject commit 010709376a131c12c14bb074b6c5be82d2241338
diff --git a/examples/single_chip/camera_web_server/README.md b/examples/single_chip/camera_web_server/README.md
index 7b7782b2..32587ff4 100755
--- a/examples/single_chip/camera_web_server/README.md
+++ b/examples/single_chip/camera_web_server/README.md
@@ -17,6 +17,6 @@ After you've completed the hardware settings, please follow the steps below:
 4. **Open Your Browser** and point it to `http://[ip-of-esp32]/`;
 5. **To Get Image** press `Get Still` or `Start Stream`;
 6. **Use The Options** to enable/disable Face Detection, Face Recognition and more;
-t. **View The Stream**  in a player like VLC: Open Network `http://[ip-of-esp32]:81/stream`;
+7. **View The Stream**  in a player like VLC: Open Network `http://[ip-of-esp32]:81/stream`;
 
 For more details of the http handler, please refer to [esp32-camera](https://github.com/espressif/esp32-camera).
diff --git a/examples/single_chip/camera_web_server/main/app_httpd.c b/examples/single_chip/camera_web_server/main/app_httpd.c
index 801e97ef..00b3ca4f 100644
--- a/examples/single_chip/camera_web_server/main/app_httpd.c
+++ b/examples/single_chip/camera_web_server/main/app_httpd.c
@@ -289,6 +289,44 @@ void enable_led(bool en)
 }
 #endif
 
+static esp_err_t bmp_handler(httpd_req_t *req)
+{
+    camera_fb_t *fb = NULL;
+    esp_err_t res = ESP_OK;
+    uint64_t fr_start = esp_timer_get_time();
+    fb = esp_camera_fb_get();
+    if (!fb)
+    {
+        ESP_LOGE(TAG, "Camera capture failed");
+        httpd_resp_send_500(req);
+        return ESP_FAIL;
+    }
+
+    httpd_resp_set_type(req, "image/x-windows-bmp");
+    httpd_resp_set_hdr(req, "Content-Disposition", "inline; filename=capture.bmp");
+    httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
+
+    char ts[32];
+    snprintf(ts, 32, "%ld.%06ld", fb->timestamp.tv_sec, fb->timestamp.tv_usec);
+    httpd_resp_set_hdr(req, "X-Timestamp", (const char *)ts);
+
+
+    uint8_t * buf = NULL;
+    size_t buf_len = 0;
+    bool converted = frame2bmp(fb, &buf, &buf_len);
+    esp_camera_fb_return(fb);
+    if(!converted){
+        ESP_LOGE(TAG, "BMP Conversion failed");
+        httpd_resp_send_500(req);
+        return ESP_FAIL;
+    }
+    res = httpd_resp_send(req, (const char *)buf, buf_len);
+    free(buf);
+    uint64_t fr_end = esp_timer_get_time();
+    ESP_LOGI(TAG, "BMP: %llums, %uB", (uint64_t)((fr_end - fr_start) / 1000), buf_len);
+    return res;
+}
+
 static size_t jpg_encode_stream(void *arg, size_t index, const void *data, size_t len)
 {
     jpg_chunking_t *j = (jpg_chunking_t *)arg;
@@ -664,8 +702,10 @@ static esp_err_t cmd_handler(httpd_req_t *req)
     char variable[32];
     char value[32];
 
-    if (parse_get(req, &buf) != ESP_OK ||
-        httpd_query_key_value(buf, "var", variable, sizeof(variable)) != ESP_OK ||
+    if (parse_get(req, &buf) != ESP_OK) {
+        return ESP_FAIL;
+    }
+    if (httpd_query_key_value(buf, "var", variable, sizeof(variable)) != ESP_OK ||
         httpd_query_key_value(buf, "val", value, sizeof(value)) != ESP_OK) {
         free(buf);
         httpd_resp_send_404(req);
@@ -688,6 +728,10 @@ static esp_err_t cmd_handler(httpd_req_t *req)
     }
     else if (!strcmp(variable, "quality"))
         res = s->set_quality(s, val);
+    else if (!strcmp(variable, "denoise"))
+        res = s->set_denoise(s, val);
+    else if (!strcmp(variable, "sharpness"))
+        res = s->set_sharpness(s, val);
     else if (!strcmp(variable, "contrast"))
         res = s->set_contrast(s, val);
     else if (!strcmp(variable, "brightness"))
@@ -761,10 +805,11 @@ static esp_err_t cmd_handler(httpd_req_t *req)
 #endif
 #endif
     else {
+        ESP_LOGI(TAG, "Unknown command: %s", variable);
         res = -1;
     }
 
-    if (res) {
+    if (res < 0) {
         return httpd_resp_send_500(req);
     }
 
@@ -807,7 +852,7 @@ static esp_err_t status_handler(httpd_req_t *req)
             p+=print_reg(p, s, reg, 0xFF);
         }
         p+=print_reg(p, s, 0x558a, 0x1FF);//9 bit
-    } else {
+    } else if(s->id.PID == OV2640_PID){
         p+=print_reg(p, s, 0xd3, 0xFF);
         p+=print_reg(p, s, 0x111, 0xFF);
         p+=print_reg(p, s, 0x132, 0xFF);
@@ -873,8 +918,10 @@ static esp_err_t xclk_handler(httpd_req_t *req)
     char *buf = NULL;
     char _xclk[32];
 
-    if (parse_get(req, &buf) != ESP_OK ||
-        httpd_query_key_value(buf, "xclk", _xclk, sizeof(_xclk)) != ESP_OK) {
+    if (parse_get(req, &buf) != ESP_OK) {
+        return ESP_FAIL;
+    }
+    if (httpd_query_key_value(buf, "xclk", _xclk, sizeof(_xclk)) != ESP_OK) {
         free(buf);
         httpd_resp_send_404(req);
         return ESP_FAIL;
@@ -901,8 +948,10 @@ static esp_err_t reg_handler(httpd_req_t *req)
     char _mask[32];
     char _val[32];
 
-    if (parse_get(req, &buf) != ESP_OK ||
-        httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK ||
+    if (parse_get(req, &buf) != ESP_OK) {
+        return ESP_FAIL;
+    }
+    if (httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK ||
         httpd_query_key_value(buf, "mask", _mask, sizeof(_mask)) != ESP_OK ||
         httpd_query_key_value(buf, "val", _val, sizeof(_val)) != ESP_OK) {
         free(buf);
@@ -932,8 +981,10 @@ static esp_err_t greg_handler(httpd_req_t *req)
     char _reg[32];
     char _mask[32];
 
-    if (parse_get(req, &buf) != ESP_OK ||
-        httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK ||
+    if (parse_get(req, &buf) != ESP_OK) {
+        return ESP_FAIL;
+    }
+    if (httpd_query_key_value(buf, "reg", _reg, sizeof(_reg)) != ESP_OK ||
         httpd_query_key_value(buf, "mask", _mask, sizeof(_mask)) != ESP_OK) {
         free(buf);
         httpd_resp_send_404(req);
@@ -970,8 +1021,6 @@ static esp_err_t pll_handler(httpd_req_t *req)
     char *buf = NULL;
 
     if (parse_get(req, &buf) != ESP_OK) {
-        free(buf);
-        httpd_resp_send_404(req);
         return ESP_FAIL;
     }
 
@@ -1001,8 +1050,6 @@ static esp_err_t win_handler(httpd_req_t *req)
     char *buf = NULL;
 
     if (parse_get(req, &buf) != ESP_OK) {
-        free(buf);
-        httpd_resp_send_404(req);
         return ESP_FAIL;
     }
 
@@ -1075,7 +1122,7 @@ static esp_err_t monitor_handler(httpd_req_t *req)
 void app_httpd_main()
 {
     httpd_config_t config = HTTPD_DEFAULT_CONFIG();
-    config.max_uri_handlers = 12;
+    config.max_uri_handlers = 16;
 
     httpd_uri_t index_uri = {
         .uri = "/",
@@ -1107,6 +1154,12 @@ void app_httpd_main()
         .handler = stream_handler,
         .user_ctx = NULL};
 
+    httpd_uri_t bmp_uri = {
+        .uri = "/bmp",
+        .method = HTTP_GET,
+        .handler = bmp_handler,
+        .user_ctx = NULL};
+
     httpd_uri_t xclk_uri = {
         .uri = "/xclk",
         .method = HTTP_GET,
@@ -1179,6 +1232,7 @@ void app_httpd_main()
         httpd_register_uri_handler(camera_httpd, &cmd_uri);
         httpd_register_uri_handler(camera_httpd, &status_uri);
         httpd_register_uri_handler(camera_httpd, &capture_uri);
+        httpd_register_uri_handler(camera_httpd, &bmp_uri);
 
         httpd_register_uri_handler(camera_httpd, &xclk_uri);
         httpd_register_uri_handler(camera_httpd, &reg_uri);
diff --git a/examples/single_chip/camera_web_server/main/include/app_camera.h b/examples/single_chip/camera_web_server/main/include/app_camera.h
index 333fd3e7..6a080be7 100755
--- a/examples/single_chip/camera_web_server/main/include/app_camera.h
+++ b/examples/single_chip/camera_web_server/main/include/app_camera.h
@@ -45,6 +45,9 @@
 #define PCLK_GPIO_NUM    22
 
 #elif CONFIG_CAMERA_MODEL_ESP32_CAM_BOARD
+// The 18 pin header on the board has Y5 and Y3 swapped
+#define USE_BOARD_HEADER 0
+
 #define CAM_BOARD       "ESP-DEVCAM"
 #define PWDN_GPIO_NUM    32
 #define RESET_GPIO_NUM   33
@@ -56,9 +59,17 @@
 #define Y8_GPIO_NUM      19
 #define Y7_GPIO_NUM      21
 #define Y6_GPIO_NUM      39
+#if USE_BOARD_HEADER
+#define Y5_GPIO_NUM      13
+#else
 #define Y5_GPIO_NUM      35
+#endif
 #define Y4_GPIO_NUM      14
+#if USE_BOARD_HEADER
+#define Y3_GPIO_NUM      35
+#else
 #define Y3_GPIO_NUM      13
+#endif
 #define Y2_GPIO_NUM      34
 #define VSYNC_GPIO_NUM    5
 #define HREF_GPIO_NUM    27