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That is an interesting question that probably has been answered before. I too have an after-market exhaust on my bike but did not do any "re-mapping" of the ECU. I did however install a booster plug on the bike which has helped tremendously. BMW invented the self adjusting ECU for their cars a while ago and everyone else has followed suite. If the ECU is capable of adjusting to driving habits, engine, etc. it would seem that it wouldn't be to far of a stretch that it could adjust for the slip-on. I don't really know, but it doesn't seem that far fetched.
du907
 

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2009 K1300S, 2017 S1000R
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If you leave the stock cat converter and the exhaust valve, just changing the slip on muffler for another unit does not need any computer work (the booster plug is a great idea. I use one). My Remus titanium Hex with no baffle dynoed 4.5 additional rear wheel HP with the unit. But be aware, many slip on silencers make no HP change and some decrease HP.
 
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