diff --git a/include/BNO08x.hpp b/include/BNO08x.hpp
index f150b0b..768f33b 100644
--- a/include/BNO08x.hpp
+++ b/include/BNO08x.hpp
@@ -220,11 +220,10 @@ class BNO08x
 
         sh2_ProductIds_t product_IDs; ///< Product ID info returned IMU at initialization, can be viewed with print_product_ids()
 
-        static const constexpr uint8_t IMPLEMENTED_REPORT_COUNT =
-                21; ///< Amount of report implementations that have been created, some are still missing.
+        static const constexpr uint8_t TOTAL_RPT_COUNT = 38; ///< Amount of possible reports returned from BNO08x. 
 
         // clang-format off
-        etl::map<uint8_t, BNO08xRpt*, IMPLEMENTED_REPORT_COUNT, etl::less<uint8_t>> usr_reports = 
+        etl::map<uint8_t, BNO08xRpt*, TOTAL_RPT_COUNT, etl::less<uint8_t>> usr_reports = 
         {
                 {SH2_ACCELEROMETER, &accelerometer},
                 {SH2_LINEAR_ACCELERATION, &linear_accelerometer}, 
@@ -233,7 +232,8 @@ class BNO08x
                 {SH2_MAGNETIC_FIELD_UNCALIBRATED, &uncal_magnetometer}, 
                 {SH2_GYROSCOPE_CALIBRATED, &cal_gyro},
                 {SH2_GYROSCOPE_UNCALIBRATED, &uncal_gyro}, 
-                {SH2_ROTATION_VECTOR, &rv}, {SH2_GAME_ROTATION_VECTOR, &rv_game},
+                {SH2_ROTATION_VECTOR, &rv}, 
+                {SH2_GAME_ROTATION_VECTOR, &rv_game},
                 {SH2_ARVR_STABILIZED_RV, &rv_ARVR_stabilized}, 
                 {SH2_ARVR_STABILIZED_GRV, &rv_ARVR_stabilized_game},
                 {SH2_GYRO_INTEGRATED_RV, &rv_gyro_integrated}, 
@@ -245,7 +245,26 @@ class BNO08x
                 {SH2_PERSONAL_ACTIVITY_CLASSIFIER, &activity_classifier}, 
                 {SH2_STABILITY_CLASSIFIER, &stability_classifier},
                 {SH2_SHAKE_DETECTOR, &shake_detector}, 
-                {SH2_TAP_DETECTOR, &tap_detector}};
+                {SH2_TAP_DETECTOR, &tap_detector},
+                
+                // not implemented, see include/report for existing implementations to add your own
+                {SH2_PRESSURE, nullptr}, // requires auxilary i2c sensor
+                {SH2_AMBIENT_LIGHT, nullptr},  // requires auxilary i2c sensor
+                {SH2_HUMIDITY, nullptr},  // requires auxilary i2c sensor
+                {SH2_PROXIMITY, nullptr},  // requires auxilary i2c sensor
+                {SH2_TEMPERATURE, nullptr},  // requires auxilary i2c sensor
+                {SH2_HEART_RATE_MONITOR, nullptr},  // requires auxilary i2c sensor
+                {SH2_STEP_DETECTOR, nullptr},
+                {SH2_SIGNIFICANT_MOTION, nullptr},
+                {SH2_FLIP_DETECTOR, nullptr},
+                {SH2_PICKUP_DETECTOR, nullptr},
+                {SH2_STABILITY_DETECTOR, nullptr},
+                {SH2_SLEEP_DETECTOR, nullptr},
+                {SH2_TILT_DETECTOR, nullptr},
+                {SH2_POCKET_DETECTOR, nullptr},
+                {SH2_CIRCLE_DETECTOR, nullptr},
+                {SH2_IZRO_MOTION_REQUEST, nullptr}
+        };
         // clang-format on
 
         static void IRAM_ATTR hint_handler(void* arg);
diff --git a/source/BNO08x.cpp b/source/BNO08x.cpp
index 94bc220..6fc6578 100644
--- a/source/BNO08x.cpp
+++ b/source/BNO08x.cpp
@@ -324,12 +324,14 @@ void BNO08x::handle_sensor_report(sh2_SensorValue_t* sensor_val)
 {
     uint8_t rpt_ID = sensor_val->sensorId;
 
-    // check if report exists within map
-    auto it = usr_reports.find(rpt_ID);
-    if (it == usr_reports.end())
+     // check if report implementation exists within map
+     if(rpt_ID == SH2_RESERVED)
         return;
 
-    auto& rpt = it->second;
+    auto& rpt = usr_reports.at(rpt_ID);
+
+    if(rpt == nullptr)
+        return;
 
     // send report ids to cb_task for callback execution (only if this report is enabled)
     if (rpt->rpt_bit & xEventGroupGetBits(evt_grp_report_en))
@@ -1266,6 +1268,11 @@ esp_err_t BNO08x::re_enable_reports()
     for (auto entry = usr_reports.begin(); entry != usr_reports.end(); ++entry)
     {
         BNO08xRpt* rpt = entry->second;
+
+        //all reports in map passed this point should be null
+        if(rpt == nullptr)
+            break; 
+
         if (rpt->rpt_bit & report_en_bits)
         {
             if (!rpt->enable(rpt->period_us))