diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
index b118d8f..c67acbf 100644
--- a/services/sensorservice/SensorDevice.cpp
+++ b/services/sensorservice/SensorDevice.cpp
@@ -45,6 +45,7 @@
 using android::hardware::sensors::V2_1::implementation::convertToNewEvents;
 using android::hardware::sensors::V2_1::implementation::convertToNewSensorInfos;
 using android::hardware::sensors::V2_1::implementation::convertToOldSensorInfo;
+using android::hardware::sensors::V2_1::implementation::convertToSensor;
 using android::hardware::sensors::V2_1::implementation::ISensorsWrapperV1_0;
 using android::hardware::sensors::V2_1::implementation::ISensorsWrapperV2_0;
 using android::hardware::sensors::V2_1::implementation::ISensorsWrapperV2_1;
@@ -98,19 +99,26 @@
 
     Return<void> onDynamicSensorsConnected_2_1(
             const hidl_vec<SensorInfo>& dynamicSensorsAdded) override {
-        return SensorDevice::getInstance().onDynamicSensorsConnected(dynamicSensorsAdded);
+        std::vector<sensor_t> sensors;
+        for (const V2_1::SensorInfo& info : dynamicSensorsAdded) {
+            sensor_t sensor;
+            convertToSensor(info, &sensor);
+            sensors.push_back(sensor);
+        }
+
+        SensorDevice::getInstance().onDynamicSensorsConnected(sensors);
+        return Return<void>();
     }
 
     Return<void> onDynamicSensorsConnected(
             const hidl_vec<V1_0::SensorInfo>& dynamicSensorsAdded) override {
-        return SensorDevice::getInstance().onDynamicSensorsConnected(
-                convertToNewSensorInfos(dynamicSensorsAdded));
+        return onDynamicSensorsConnected_2_1(convertToNewSensorInfos(dynamicSensorsAdded));
     }
 
     Return<void> onDynamicSensorsDisconnected(
             const hidl_vec<int32_t>& dynamicSensorHandlesRemoved) override {
-        return SensorDevice::getInstance().onDynamicSensorsDisconnected(
-                dynamicSensorHandlesRemoved);
+        SensorDevice::getInstance().onDynamicSensorsDisconnected(dynamicSensorHandlesRemoved);
+        return Return<void>();
     }
 };
 
@@ -138,7 +146,7 @@
         Info model;
         for (size_t i = 0; i < count; i++) {
             sensor_t sensor;
-            convertToSensor(convertToOldSensorInfo(list[i]), &sensor);
+            convertToSensor(list[i], &sensor);
 
             if (sensor.type < static_cast<int>(SensorType::DEVICE_PRIVATE_BASE)) {
                 sensor.resolution = SensorDeviceUtils::resolutionForSensor(sensor);
@@ -289,8 +297,9 @@
     CHECK(mSensors != nullptr && mWakeLockQueue != nullptr && mEventQueueFlag != nullptr &&
           mWakeLockQueueFlag != nullptr);
 
-    status_t status = checkReturnAndGetStatus(
-            mSensors->initialize(*mWakeLockQueue->getDesc(), new SensorsCallback()));
+    mCallback = new SensorsCallback();
+    status_t status =
+            checkReturnAndGetStatus(mSensors->initialize(*mWakeLockQueue->getDesc(), mCallback));
 
     if (status != NO_ERROR) {
         connectionStatus = HalConnectionStatus::FAILED_TO_CONNECT;
@@ -609,34 +618,26 @@
     return eventsRead;
 }
 
-Return<void> SensorDevice::onDynamicSensorsConnected(
-        const hidl_vec<SensorInfo>& dynamicSensorsAdded) {
+void SensorDevice::onDynamicSensorsConnected(const std::vector<sensor_t>& dynamicSensorsAdded) {
     std::unique_lock<std::mutex> lock(mDynamicSensorsMutex);
 
     // Allocate a sensor_t structure for each dynamic sensor added and insert
     // it into the dictionary of connected dynamic sensors keyed by handle.
     for (size_t i = 0; i < dynamicSensorsAdded.size(); ++i) {
-        const SensorInfo& info = dynamicSensorsAdded[i];
+        const sensor_t& sensor = dynamicSensorsAdded[i];
 
-        auto it = mConnectedDynamicSensors.find(info.sensorHandle);
+        auto it = mConnectedDynamicSensors.find(sensor.handle);
         CHECK(it == mConnectedDynamicSensors.end());
 
-        sensor_t* sensor = new sensor_t();
-        convertToSensor(convertToOldSensorInfo(info), sensor);
-
-        mConnectedDynamicSensors.insert(std::make_pair(sensor->handle, sensor));
+        mConnectedDynamicSensors.insert(std::make_pair(sensor.handle, sensor));
     }
 
     mDynamicSensorsCv.notify_all();
-
-    return Return<void>();
 }
 
-Return<void> SensorDevice::onDynamicSensorsDisconnected(
-        const hidl_vec<int32_t>& dynamicSensorHandlesRemoved) {
-    (void)dynamicSensorHandlesRemoved;
+void SensorDevice::onDynamicSensorsDisconnected(
+        const std::vector<int32_t>& /* dynamicSensorHandlesRemoved */) {
     // TODO: Currently dynamic sensors do not seem to be removed
-    return Return<void>();
 }
 
 void SensorDevice::writeWakeLockHandled(uint32_t count) {
@@ -710,7 +711,6 @@
         // dictionary.
         auto it = mConnectedDynamicSensors.find(handle);
         if (it != mConnectedDynamicSensors.end()) {
-            delete it->second;
             mConnectedDynamicSensors.erase(it);
         }
 
@@ -1176,7 +1176,7 @@
                 CHECK(it != mConnectedDynamicSensors.end());
             }
 
-            dst->dynamic_sensor_meta.sensor = it->second;
+            dst->dynamic_sensor_meta.sensor = &it->second;
 
             memcpy(dst->dynamic_sensor_meta.uuid, dyn.uuid.data(),
                    sizeof(dst->dynamic_sensor_meta.uuid));
@@ -1187,8 +1187,8 @@
 void SensorDevice::convertToSensorEventsAndQuantize(const hidl_vec<Event>& src,
                                                     const hidl_vec<SensorInfo>& dynamicSensorsAdded,
                                                     sensors_event_t* dst) {
-    if (dynamicSensorsAdded.size() > 0) {
-        onDynamicSensorsConnected(dynamicSensorsAdded);
+    if (dynamicSensorsAdded.size() > 0 && mCallback != nullptr) {
+        mCallback->onDynamicSensorsConnected_2_1(dynamicSensorsAdded);
     }
 
     for (size_t i = 0; i < src.size(); ++i) {
@@ -1208,7 +1208,7 @@
 
     auto it = mConnectedDynamicSensors.find(sensorHandle);
     if (it != mConnectedDynamicSensors.end()) {
-        return it->second->resolution;
+        return it->second.resolution;
     }
 
     return 0;
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
index 2f24e5f..314ddb8 100644
--- a/services/sensorservice/SensorDevice.h
+++ b/services/sensorservice/SensorDevice.h
@@ -43,6 +43,8 @@
 
 namespace android {
 
+using Result = ::android::hardware::sensors::V1_0::Result;
+
 // ---------------------------------------------------------------------------
 class SensorsHalDeathReceivier : public android::hardware::hidl_death_recipient {
     virtual void serviceDied(uint64_t cookie,
@@ -110,11 +112,8 @@
     status_t injectSensorData(const sensors_event_t* event);
     void notifyConnectionDestroyed(void* ident);
 
-    using Result = ::android::hardware::sensors::V1_0::Result;
-    hardware::Return<void> onDynamicSensorsConnected(
-            const hardware::hidl_vec<hardware::sensors::V2_1::SensorInfo>& dynamicSensorsAdded);
-    hardware::Return<void> onDynamicSensorsDisconnected(
-            const hardware::hidl_vec<int32_t>& dynamicSensorHandlesRemoved);
+    void onDynamicSensorsConnected(const std::vector<sensor_t>& dynamicSensorsAdded);
+    void onDynamicSensorsDisconnected(const std::vector<int32_t>& dynamicSensorHandlesRemoved);
 
     void setUidStateForConnection(void* ident, SensorService::UidState state);
 
@@ -134,8 +133,9 @@
     friend class Singleton<SensorDevice>;
 
     sp<::android::hardware::sensors::V2_1::implementation::ISensorsWrapperBase> mSensors;
+    sp<::android::hardware::sensors::V2_1::ISensorsCallback> mCallback;
     std::vector<sensor_t> mSensorList;
-    std::unordered_map<int32_t, sensor_t*> mConnectedDynamicSensors;
+    std::unordered_map<int32_t, sensor_t> mConnectedDynamicSensors;
 
     // A bug in the Sensors HIDL spec which marks onDynamicSensorsConnected as oneway causes dynamic
     // meta events and onDynamicSensorsConnected to be received out of order. This mutex + CV are
@@ -262,6 +262,7 @@
             handleHidlDeath(ret.description());
         }
     }
+
     status_t checkReturnAndGetStatus(const Return<Result>& ret);
     // TODO(b/67425500): remove waiter after bug is resolved.
     sp<SensorDeviceUtils::HidlServiceRegistrationWaiter> mRestartWaiter;