diff --git a/include/ouster/os1.h b/include/ouster/os1.h
index f6d77b30..8156eb6c 100644
--- a/include/ouster/os1.h
+++ b/include/ouster/os1.h
@@ -86,7 +86,7 @@ using PulseMode = pulse_mode_t;
  * @param window_rejection to reject short range data (true), or to accept short range data (false)
  * @note This function was added to configure advanced operation modes for Autoware
  */
-void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str, bool window_rejection);
+void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str);
 
 }
 }
diff --git a/src/os1.cpp b/src/os1.cpp
index 2ff1661a..96e20359 100644
--- a/src/os1.cpp
+++ b/src/os1.cpp
@@ -25,10 +25,8 @@ using ns = std::chrono::nanoseconds;
  */
 static OperationMode _operation_mode = ouster::OS1::MODE_1024x10;
 static PulseMode _pulse_mode = ouster::OS1::PULSE_STANDARD;
-static bool _window_rejection = true;
 static std::string _operation_mode_str = "";
 static std::string _pulse_mode_str = "";
-static std::string _window_rejection_str = "";
 //----------------
 
 struct client {
@@ -249,10 +247,6 @@ std::shared_ptr<client> init_client(const std::string& hostname,
 	    success &= do_cmd_chk("set_config_param", "pulse_mode " + _pulse_mode_str);
 	    do_configure = true;
     }
-    if (curr_window_rejection_str != _window_rejection_str) {
-		success &= do_cmd_chk("set_config_param", "window_rejection_enable " + _window_rejection_str);
-		do_configure = true;
-   	}
     
     if (!success) return std::shared_ptr<client>();
     
@@ -320,11 +314,10 @@ bool read_imu_packet(const client& cli, uint8_t* buf) {
  * @note Added to support advanced mode parameters configuration for Autoware
  */
 //----------------
-void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str, bool window_rejection)
+void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_str)
 {
    _operation_mode_str = operation_mode_str;
    _pulse_mode_str = pulse_mode_str;
-   _window_rejection = window_rejection;
    
    _operation_mode = ouster::OS1::MODE_1024x10;
    if (_operation_mode_str == std::string("512x10")) {
@@ -349,8 +342,6 @@ void set_advanced_params(std::string operation_mode_str, std::string pulse_mode_
    } else {
    	   std::cout << "Selected pulse mode " << _pulse_mode_str << " is invalid, using default mode \"STANDARD\"" << std::endl;
    }
-
-   _window_rejection_str = ((_window_rejection) ? std::string("1") : std::string("0"));
 }
 //----------------
 
diff --git a/src/os1_node.cpp b/src/os1_node.cpp
index 0dcb8a72..9f8d1da7 100644
--- a/src/os1_node.cpp
+++ b/src/os1_node.cpp
@@ -50,7 +50,6 @@ int main(int argc, char** argv) {
     auto pointcloud_mode = nh.param("pointcloud_mode", std::string("NATIVE"));
     auto operation_mode_str = nh.param("operation_mode", std::string("1024x10"));
     auto pulse_mode_str = nh.param("pulse_mode", std::string("STANDARD"));
-    auto window_rejection = nh.param("window_rejection", true);
     
     /**
      * @note Added to support Velodyne compatible pointcloud format for Autoware
@@ -62,7 +61,7 @@ int main(int argc, char** argv) {
      * @note Added to support advanced mode parameters configuration for Autoware
      */
     //defines the advanced parameters
-    ouster::OS1::set_advanced_params(operation_mode_str, pulse_mode_str, window_rejection);
+    ouster::OS1::set_advanced_params(operation_mode_str, pulse_mode_str);
     auto queue_size = 10;
     if (operation_mode_str == std::string("512x20") || operation_mode_str == std::string("1024x20")) {
     	queue_size = 20;