diff --git a/cmds/bugreportz/Android.mk b/cmds/bugreportz/Android.mk
index 880bc75..10dda56 100644
--- a/cmds/bugreportz/Android.mk
+++ b/cmds/bugreportz/Android.mk
@@ -25,6 +25,7 @@
 include $(CLEAR_VARS)
 
 LOCAL_MODULE := bugreportz_test
+LOCAL_COMPATIBILITY_SUITE := device-tests
 LOCAL_MODULE_TAGS := tests
 
 LOCAL_CFLAGS := -Werror -Wall
diff --git a/cmds/bugreportz/AndroidTest.xml b/cmds/bugreportz/AndroidTest.xml
new file mode 100644
index 0000000..38b6276
--- /dev/null
+++ b/cmds/bugreportz/AndroidTest.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+<configuration description="Config for bugreportz_test">
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push" value="bugreportz_test->/data/local/tmp/bugreportz_test" />
+    </target_preparer>
+    <option name="test-suite-tag" value="apct" />
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="bugreportz_test" />
+    </test>
+</configuration>
diff --git a/cmds/dumpstate/Android.mk b/cmds/dumpstate/Android.mk
index a407ea2..669e8d2 100644
--- a/cmds/dumpstate/Android.mk
+++ b/cmds/dumpstate/Android.mk
@@ -138,7 +138,7 @@
 include $(CLEAR_VARS)
 
 LOCAL_MODULE := dumpstate_test_fixture
-
+LOCAL_COMPATIBILITY_SUITE := device-tests
 LOCAL_MODULE_TAGS := tests
 
 LOCAL_CFLAGS := $(COMMON_LOCAL_CFLAGS)
diff --git a/cmds/dumpstate/AndroidTest.xml b/cmds/dumpstate/AndroidTest.xml
new file mode 100644
index 0000000..f189489
--- /dev/null
+++ b/cmds/dumpstate/AndroidTest.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+<configuration description="Config for dumpstate_test_fixture">
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push" value="dumpstate_test_fixture->/data/local/tmp/dumpstate_test_fixture" />
+    </target_preparer>
+    <option name="test-suite-tag" value="apct" />
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="dumpstate_test_fixture" />
+    </test>
+</configuration>
diff --git a/cmds/vr/pose/pose.cpp b/cmds/vr/pose/pose.cpp
index 2288a86..faceb67 100644
--- a/cmds/vr/pose/pose.cpp
+++ b/cmds/vr/pose/pose.cpp
@@ -28,7 +28,7 @@
                " px, py, pz as position (0,0,0 if omitted).\n"
             << "  --mode=mode: sets mode to one of normal, head_turn:slow, "
                "head_turn:fast, rotate:slow, rotate:medium, rotate:fast, "
-               "circle_strafe.\n"
+               "circle_strafe, float, motion_sickness.\n"
             << "  --unfreeze: sets the mode to normal.\n"
             << "  --log_controller=[true|false]: starts and stops controller"
                " logs\n"
@@ -150,6 +150,12 @@
   } else if (value == "circle_strafe") {
     *mode = DVR_POSE_MODE_MOCK_CIRCLE_STRAFE;
     return true;
+  } else if (value == "float") {
+    *mode = DVR_POSE_MODE_FLOAT;
+    return true;
+  } else if (value == "motion_sickness") {
+    *mode = DVR_POSE_MODE_MOCK_MOTION_SICKNESS;
+    return true;
   } else {
     return false;
   }
diff --git a/data/etc/android.hardware.telephony.euicc.xml b/data/etc/android.hardware.telephony.euicc.xml
new file mode 100644
index 0000000..167ed6a
--- /dev/null
+++ b/data/etc/android.hardware.telephony.euicc.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<!-- Feature for devices with an eUICC. -->
+<permissions>
+    <feature name="android.hardware.telephony.euicc" />
+</permissions>
diff --git a/include/media/openmax/OMX_AsString.h b/include/media/openmax/OMX_AsString.h
index 6b21979..56d7cc8 100644
--- a/include/media/openmax/OMX_AsString.h
+++ b/include/media/openmax/OMX_AsString.h
@@ -557,6 +557,7 @@
         case OMX_IndexConfigPriority:                   return "ConfigPriority";
         case OMX_IndexConfigOperatingRate:              return "ConfigOperatingRate";
         case OMX_IndexParamConsumerUsageBits:           return "ParamConsumerUsageBits";
+        case OMX_IndexConfigLatency:                    return "ConfigLatency";
         default:                                        return asString((OMX_INDEXTYPE)i, def);
     }
 }
diff --git a/include/media/openmax/OMX_IndexExt.h b/include/media/openmax/OMX_IndexExt.h
index eccecaa..5a029d0 100644
--- a/include/media/openmax/OMX_IndexExt.h
+++ b/include/media/openmax/OMX_IndexExt.h
@@ -96,6 +96,7 @@
     OMX_IndexConfigPriority,                        /**< reference: OMX_PARAM_U32TYPE */
     OMX_IndexConfigOperatingRate,                   /**< reference: OMX_PARAM_U32TYPE in Q16 format for video and in Hz for audio */
     OMX_IndexParamConsumerUsageBits,                /**< reference: OMX_PARAM_U32TYPE */
+    OMX_IndexConfigLatency,                         /**< reference: OMX_PARAM_U32TYPE */
     OMX_IndexExtOtherEndUnused,
 
     /* Time configurations */
diff --git a/libs/binder/tests/schd-dbg.cpp b/libs/binder/tests/schd-dbg.cpp
index 2732071..fe9e05a 100644
--- a/libs/binder/tests/schd-dbg.cpp
+++ b/libs/binder/tests/schd-dbg.cpp
@@ -15,6 +15,7 @@
 #include <pthread.h>
 #include <sys/wait.h>
 #include <unistd.h>
+#include <fstream>
 
 using namespace std;
 using namespace android;
@@ -41,6 +42,8 @@
 
 #define DUMP_PRICISION 3
 
+string trace_path = "/sys/kernel/debug/tracing";
+
 // the default value
 int no_process = 2;
 int iterations = 100;
@@ -48,6 +51,23 @@
 int no_inherent = 0;
 int no_sync = 0;
 int verbose = 0;
+int trace;
+
+bool traceIsOn() {
+  fstream file;
+  file.open(trace_path + "/tracing_on", ios::in);
+  char on;
+  file >> on;
+  file.close();
+  return on == '1';
+}
+
+void traceStop() {
+  ofstream file;
+  file.open(trace_path + "/tracing_on", ios::out | ios::trunc);
+  file << '0' << endl;
+  file.close();
+}
 
 // the deadline latency that we are interested in
 uint64_t deadline_us = 2500;
@@ -197,13 +217,29 @@
   uint64_t m_transactions = 0;
   uint64_t m_total_time = 0;
   uint64_t m_miss = 0;
-
+  bool tracing;
+  Results(bool _tracing) : tracing(_tracing) {
+  }
+  inline bool miss_deadline(uint64_t nano) {
+    return nano > deadline_us * 1000;
+  }
   void add_time(uint64_t nano) {
     m_best = min(nano, m_best);
     m_worst = max(nano, m_worst);
     m_transactions += 1;
     m_total_time += nano;
-    if (nano > deadline_us * 1000) m_miss++;
+    if (miss_deadline(nano)) m_miss++;
+    if (miss_deadline(nano) && tracing) {
+      // There might be multiple process pair running the test concurrently
+      // each may execute following statements and only the first one actually
+      // stop the trace and any traceStop() afterthen has no effect.
+      traceStop();
+      cout << endl;
+      cout << "deadline triggered: halt & stop trace" << endl;
+      cout << "log:" + trace_path + "/trace" << endl;
+      cout << endl;
+      exit(1);
+    }
   }
   void dump() {
     double best = (double)m_best / 1.0E6;
@@ -212,8 +248,9 @@
     // FIXME: libjson?
     cout << std::setprecision(DUMP_PRICISION) << "{ \"avg\":" << setw(5) << left
          << average << ", \"wst\":" << setw(5) << left << worst
-         << ", \"bst\":" << setw(5) << left << best << ", \"miss\":" << m_miss
-         << "}";
+         << ", \"bst\":" << setw(5) << left << best << ", \"miss\":" << setw(5)
+         << left << m_miss << ", \"meetR\":" << setw(3) << left
+         << (1.0 - (double)m_miss / m_transactions) << "}";
   }
 };
 
@@ -272,7 +309,7 @@
 void worker_fx(int num, int no_process, int iterations, int payload_size,
                Pipe p) {
   int dummy;
-  Results results_other, results_fifo;
+  Results results_other(false), results_fifo(trace);
 
   // Create BinderWorkerService and for go.
   ProcessState::self()->startThreadPool();
@@ -389,8 +426,28 @@
     }
     if (string(argv[i]) == "-v") {
       verbose = 1;
-      i++;
     }
+    // The -trace argument is used like that:
+    //
+    // First start trace with atrace command as usual
+    // >atrace --async_start sched freq
+    //
+    // then use schd-dbg with -trace arguments
+    //./schd-dbg -trace -deadline_us 2500
+    //
+    // This makes schd-dbg to stop trace once it detects a transaction
+    // duration over the deadline. By writing '0' to
+    // /sys/kernel/debug/tracing and halt the process. The tracelog is
+    // then available on /sys/kernel/debug/trace
+    if (string(argv[i]) == "-trace") {
+      trace = 1;
+    }
+  }
+  if (trace && !traceIsOn()) {
+    cout << "trace is not running" << endl;
+    cout << "check " << trace_path + "/tracing_on" << endl;
+    cout << "use atrace --async_start first" << endl;
+    exit(-1);
   }
   vector<Pipe> pipes;
   thread_dump("main");
diff --git a/libs/vr/libdvrcommon/include/private/dvr/benchmark.h b/libs/vr/libdvrcommon/include/private/dvr/benchmark.h
index 2dbb5f2..7eeab16 100644
--- a/libs/vr/libdvrcommon/include/private/dvr/benchmark.h
+++ b/libs/vr/libdvrcommon/include/private/dvr/benchmark.h
@@ -19,7 +19,7 @@
 // ... code to benchmark ...
 // Btrace("End execution");
 //
-// Use compute_benchmarks.py (currently in dreamos/system/core/applications),
+// Use compute_benchmarks.py
 // with the trace path "Start execution,End execution",
 // to report the elapsed time between the two calls.
 //
diff --git a/libs/vr/libimageio/include/private/dvr/image_io_base.h b/libs/vr/libimageio/include/private/dvr/image_io_base.h
index 009cad4..5f29de7 100644
--- a/libs/vr/libimageio/include/private/dvr/image_io_base.h
+++ b/libs/vr/libimageio/include/private/dvr/image_io_base.h
@@ -1,5 +1,5 @@
-#ifndef LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_BASE_H_
-#define LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_BASE_H_
+#ifndef LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_BASE_H_
+#define LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_BASE_H_
 
 #include <memory>
 #include <string>
@@ -53,4 +53,4 @@
   ImageIoWriter() = delete;
 };
 
-#endif  // LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_BASE_H_
+#endif  // LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_BASE_H_
diff --git a/libs/vr/libimageio/include/private/dvr/image_io_logging.h b/libs/vr/libimageio/include/private/dvr/image_io_logging.h
index ac78179..a2629f3 100644
--- a/libs/vr/libimageio/include/private/dvr/image_io_logging.h
+++ b/libs/vr/libimageio/include/private/dvr/image_io_logging.h
@@ -1,5 +1,5 @@
-#ifndef LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_LOGGING_H_
-#define LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_LOGGING_H_
+#ifndef LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_LOGGING_H_
+#define LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_LOGGING_H_
 
 // This header acts as log/log.h if LOG_TO_STDERR is not defined.
 // If LOG_TO_STDERR is defined, then android logging macros (such as ALOGE)
@@ -36,4 +36,4 @@
 #include <log/log.h>
 #endif  // LOG_TO_STDERR
 
-#endif  // LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_LOGGING_H_
+#endif  // LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_LOGGING_H_
diff --git a/libs/vr/libimageio/include/private/dvr/image_io_png.h b/libs/vr/libimageio/include/private/dvr/image_io_png.h
index e3b19db..e06a17a 100644
--- a/libs/vr/libimageio/include/private/dvr/image_io_png.h
+++ b/libs/vr/libimageio/include/private/dvr/image_io_png.h
@@ -1,5 +1,5 @@
-#ifndef LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_PNG_H_
-#define LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_PNG_H_
+#ifndef LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_PNG_H_
+#define LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_PNG_H_
 
 #include <fstream>
 
@@ -21,4 +21,4 @@
   friend class ImageIoWriter;
 };
 
-#endif  // LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_PNG_H_
+#endif  // LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_PNG_H_
diff --git a/libs/vr/libimageio/include/private/dvr/image_io_ppm.h b/libs/vr/libimageio/include/private/dvr/image_io_ppm.h
index 00264bd..8a1a96c 100644
--- a/libs/vr/libimageio/include/private/dvr/image_io_ppm.h
+++ b/libs/vr/libimageio/include/private/dvr/image_io_ppm.h
@@ -1,5 +1,5 @@
-#ifndef LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_PPM_H_
-#define LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_PPM_H_
+#ifndef LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_PPM_H_
+#define LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_PPM_H_
 
 #include <private/dvr/image_io_base.h>
 
@@ -25,4 +25,4 @@
   friend class ImageIoWriter;
 };
 
-#endif  // LIB_LIBIMAGEIO_PRIVATE_DREAMOS_IMAGE_IO_PPM_H_
+#endif  // LIB_LIBIMAGEIO_PRIVATE_DVR_IMAGE_IO_PPM_H_
diff --git a/libs/vr/libvrflinger/acquired_buffer.h b/libs/vr/libvrflinger/acquired_buffer.h
index 050cd5f..1d14a38 100644
--- a/libs/vr/libvrflinger/acquired_buffer.h
+++ b/libs/vr/libvrflinger/acquired_buffer.h
@@ -43,7 +43,7 @@
 
   // Accessors for the underlying BufferConsumer, the acquire fence, and the
   // use-case specific sequence value from the acquisition (see
-  // dreamos/buffer_hub_client.h).
+  // private/dvr/buffer_hub_client.h).
   std::shared_ptr<BufferConsumer> buffer() const { return buffer_; }
   int acquire_fence() const { return acquire_fence_.Get(); }
 
diff --git a/libs/vr/libvrflinger/compositor.cpp b/libs/vr/libvrflinger/compositor.cpp
index 5a111d4..699088e 100644
--- a/libs/vr/libvrflinger/compositor.cpp
+++ b/libs/vr/libvrflinger/compositor.cpp
@@ -48,10 +48,10 @@
     std::make_shared<int64_t>(0);
 
 static constexpr char kDisableLensDistortionProp[] =
-    "persist.dreamos.disable_distort";
+    "persist.dvr.disable_distort";
 
 static constexpr char kEnableEdsPoseSaveProp[] =
-    "persist.dreamos.save_eds_pose";
+    "persist.dvr.save_eds_pose";
 
 namespace android {
 namespace dvr {
diff --git a/libs/vr/libvrflinger/hardware_composer.cpp b/libs/vr/libvrflinger/hardware_composer.cpp
index 542bbd9..71591d4 100644
--- a/libs/vr/libvrflinger/hardware_composer.cpp
+++ b/libs/vr/libvrflinger/hardware_composer.cpp
@@ -64,7 +64,7 @@
 
 const char kDvrPerformanceProperty[] = "sys.dvr.performance";
 
-const char kRightEyeOffsetProperty[] = "dreamos.right_eye_offset_ns";
+const char kRightEyeOffsetProperty[] = "dvr.right_eye_offset_ns";
 
 // Returns our best guess for the time the compositor will spend rendering the
 // next frame.
diff --git a/libs/vr/libvrsensor/include/dvr/pose_client.h b/libs/vr/libvrsensor/include/dvr/pose_client.h
index ed75f84..6802fa9 100644
--- a/libs/vr/libvrsensor/include/dvr/pose_client.h
+++ b/libs/vr/libvrsensor/include/dvr/pose_client.h
@@ -105,6 +105,8 @@
   DVR_POSE_MODE_MOCK_ROTATE_MEDIUM,
   DVR_POSE_MODE_MOCK_ROTATE_FAST,
   DVR_POSE_MODE_MOCK_CIRCLE_STRAFE,
+  DVR_POSE_MODE_FLOAT,
+  DVR_POSE_MODE_MOCK_MOTION_SICKNESS,
 
   // Always last.
   DVR_POSE_MODE_COUNT,
diff --git a/services/surfaceflinger/tests/Android.mk b/services/surfaceflinger/tests/Android.mk
index 16041da..43e22a0 100644
--- a/services/surfaceflinger/tests/Android.mk
+++ b/services/surfaceflinger/tests/Android.mk
@@ -4,7 +4,7 @@
 LOCAL_ADDITIONAL_DEPENDENCIES := $(LOCAL_PATH)/Android.mk
 
 LOCAL_MODULE := SurfaceFlinger_test
-
+LOCAL_COMPATIBILITY_SUITE := device-tests
 LOCAL_MODULE_TAGS := tests
 
 LOCAL_SRC_FILES := \
diff --git a/services/surfaceflinger/tests/AndroidTest.xml b/services/surfaceflinger/tests/AndroidTest.xml
new file mode 100644
index 0000000..8315037
--- /dev/null
+++ b/services/surfaceflinger/tests/AndroidTest.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+<configuration description="Config for SurfaceFlinger_test">
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push" value="SurfaceFlinger_test->/data/local/tmp/SurfaceFlinger_test" />
+    </target_preparer>
+    <option name="test-suite-tag" value="apct" />
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="SurfaceFlinger_test" />
+    </test>
+</configuration>
diff --git a/services/surfaceflinger/tests/vsync/Android.mk b/services/surfaceflinger/tests/vsync/Android.mk
index 9181760..8e41617 100644
--- a/services/surfaceflinger/tests/vsync/Android.mk
+++ b/services/surfaceflinger/tests/vsync/Android.mk
@@ -15,4 +15,6 @@
 
 LOCAL_MODULE_TAGS := tests
 
+LOCAL_CFLAGS := -Werror
+
 include $(BUILD_EXECUTABLE)
diff --git a/services/surfaceflinger/tests/vsync/vsync.cpp b/services/surfaceflinger/tests/vsync/vsync.cpp
index aa72c79..a1b45e6 100644
--- a/services/surfaceflinger/tests/vsync/vsync.cpp
+++ b/services/surfaceflinger/tests/vsync/vsync.cpp
@@ -20,7 +20,7 @@
 
 using namespace android;
 
-int receiver(int fd, int events, void* data)
+int receiver(int /*fd*/, int /*events*/, void* data)
 {
     DisplayEventReceiver* q = (DisplayEventReceiver*)data;
 
@@ -47,7 +47,7 @@
     return 1;
 }
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** /*argv*/)
 {
     DisplayEventReceiver myDisplayEvent;
 
diff --git a/services/surfaceflinger/tests/waitforvsync/Android.mk b/services/surfaceflinger/tests/waitforvsync/Android.mk
index c25f5ab..932d2be 100644
--- a/services/surfaceflinger/tests/waitforvsync/Android.mk
+++ b/services/surfaceflinger/tests/waitforvsync/Android.mk
@@ -11,4 +11,6 @@
 
 LOCAL_MODULE_TAGS := tests
 
+LOCAL_CFLAGS := -Werror
+
 include $(BUILD_EXECUTABLE)
diff --git a/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp b/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp
index b88b04a..65eaae5 100644
--- a/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp
+++ b/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp
@@ -29,7 +29,7 @@
 #define FBIO_WAITFORVSYNC   _IOW('F', 0x20, __u32)
 #endif
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
     int fd = open("/dev/graphics/fb0", O_RDWR);
     if (fd >= 0) {
         do {
diff --git a/services/vr/sensord/pose_service.cpp b/services/vr/sensord/pose_service.cpp
index 7534732..e00ed08 100644
--- a/services/vr/sensord/pose_service.cpp
+++ b/services/vr/sensord/pose_service.cpp
@@ -48,7 +48,7 @@
 static constexpr float kDefaultNeckVerticalOffset = 0.075f;    // meters
 
 static constexpr char kDisablePosePredictionProp[] =
-    "persist.dreamos.disable_predict";
+    "persist.dvr.disable_predict";
 
 // Device type property for controlling classes of behavior that differ
 // between devices. If unset, defaults to kOrientationTypeSmartphone.
@@ -94,6 +94,10 @@
       return "DVR_POSE_MODE_MOCK_ROTATE_FAST";
     case DVR_POSE_MODE_MOCK_CIRCLE_STRAFE:
       return "DVR_POSE_MODE_MOCK_CIRCLE_STRAFE";
+    case DVR_POSE_MODE_FLOAT:
+      return "DVR_POSE_MODE_FLOAT";
+    case DVR_POSE_MODE_MOCK_MOTION_SICKNESS:
+      return "DVR_POSE_MODE_MOCK_MOTION_SICKNESS";
     default:
       return "Unknown pose mode";
   }
@@ -183,7 +187,7 @@
     KickSensorWatchDogThread();
   }
 
-  // Read the persistent dreamos flags before using them in SetPoseMode.
+  // Read the persistent dvr flags before using them in SetPoseMode.
   enable_pose_prediction_ =
       property_get_bool(kDisablePosePredictionProp, 0) == 0;
 
@@ -422,7 +426,8 @@
                       current_time_ns);
       break;
     }
-    case DVR_POSE_MODE_3DOF: {
+    case DVR_POSE_MODE_3DOF:
+    case DVR_POSE_MODE_FLOAT: {
       // Sensor fusion provides IMU-space data, transform to world space.
 
       // Constants to perform IMU orientation adjustments. Note that these
@@ -459,13 +464,25 @@
       }
       start_from_head_rotation.normalize();
 
-      // Neck / head model code procedure for when no 6dof is available.
-      // To apply the neck model, first translate the head pose to the new
-      // center of eyes, then rotate around the origin (the original head
-      // pos).
-      Vector3d position =
-          start_from_head_rotation * Vector3d(0.0, kDefaultNeckVerticalOffset,
-                                              -kDefaultNeckHorizontalOffset);
+      Vector3d position;
+      switch (pose_mode_) {
+        default:
+        case DVR_POSE_MODE_3DOF:
+          // Neck / head model code procedure for when no 6dof is available.
+          // To apply the neck model, first translate the head pose to the new
+          // center of eyes, then rotate around the origin (the original head
+          // pos).
+          position = start_from_head_rotation *
+                     Vector3d(0.0, kDefaultNeckVerticalOffset,
+                              -kDefaultNeckHorizontalOffset);
+          break;
+        case DVR_POSE_MODE_FLOAT:
+          // Change position a bit in facing direction.
+          mock_pos_offset_ += start_from_head_rotation.toRotationMatrix() * Vector3d(0, 0, -0.01);
+          ResetMockDeviatedPosition();
+          position = mock_pos_offset_;
+          break;
+      }
 
       // Update the current latency model.
       sensor_latency_.AddLatency(GetSystemClockNs() - pose_state.timestamp_ns);
@@ -476,6 +493,26 @@
           pose_state.timestamp_ns + sensor_latency_.CurrentLatencyEstimate());
       break;
     }
+    case DVR_POSE_MODE_MOCK_MOTION_SICKNESS: {
+      double phase = std::sin(current_time_ns / 1e9) + 1;
+      // Randomize 3rd order rotation axis on phase minimum.
+      if (phase > mock_prev_phase_ && mock_diff_phase_ < 0)
+        mock_rot_axis_2_ = RandVector();
+      mock_diff_phase_ = phase - mock_prev_phase_;
+      mock_prev_phase_ = phase;
+
+      // Rotate axes all the way down.
+      mock_rot_axis_2_ = AngleAxisd(0.004 * phase, mock_rot_axis_3_) * mock_rot_axis_2_;
+      mock_rot_axis_1_ = AngleAxisd(0.002 * (std::sin(current_time_ns / 5e8 + M_PI / 2) + 1), mock_rot_axis_2_) * mock_rot_axis_1_;
+      Rotationd rotation = Rotationd(AngleAxisd(fmod(current_time_ns / 2e9, kTwoPi), mock_rot_axis_1_));
+
+      // Change position a bit.
+      mock_pos_offset_ += rotation.toRotationMatrix() * Vector3d(0, 0, 0.003 * (std::sin(current_time_ns / 6e8) + 1));
+      ResetMockDeviatedPosition();
+
+      WriteAsyncPoses(mock_pos_offset_, rotation, current_time_ns);
+      break;
+    }
     default:
     case DVR_POSE_MODE_6DOF:
       ALOGE("ERROR: invalid pose mode");
@@ -483,6 +520,13 @@
   }
 }
 
+void PoseService::ResetMockDeviatedPosition() {
+  if (mock_pos_offset_[1] < -1) mock_pos_offset_[1] = 2;
+  if (mock_pos_offset_[1] > 30) mock_pos_offset_[1] = 2;
+  if (abs(mock_pos_offset_[0]) > 30) mock_pos_offset_[0] = mock_pos_offset_[2] = 0;
+  if (abs(mock_pos_offset_[2]) > 30) mock_pos_offset_[0] = mock_pos_offset_[2] = 0;
+}
+
 pdx::Status<void> PoseService::HandleMessage(pdx::Message& msg) {
   pdx::Status<void> ret;
   const pdx::MessageInfo& info = msg.GetInfo();
@@ -636,6 +680,10 @@
   if (mode == DVR_POSE_MODE_6DOF) {
     // Only 3DoF is currently supported.
     mode = DVR_POSE_MODE_3DOF;
+  } else if (mode == DVR_POSE_MODE_MOCK_MOTION_SICKNESS) {
+    mock_rot_axis_1_ = RandVector();
+    mock_rot_axis_2_ = RandVector();
+    mock_rot_axis_3_ = RandVector();
   }
 
   pose_mode_ = mode;
diff --git a/services/vr/sensord/pose_service.h b/services/vr/sensord/pose_service.h
index 7b7adec..acf4124 100644
--- a/services/vr/sensord/pose_service.h
+++ b/services/vr/sensord/pose_service.h
@@ -102,6 +102,25 @@
   // Last known pose.
   DvrPoseAsync last_known_pose_;
 
+  // Position offset for use in pose modes.
+  Eigen::Vector3d mock_pos_offset_;
+
+  // Phase data for DVR_POSE_MODE_MOCK_MOTION_SICKNESS.
+  double mock_prev_phase_, mock_diff_phase_;
+
+  // Axis data for DVR_POSE_MODE_MOCK_MOTION_SICKNESS.
+  Eigen::Vector3d mock_rot_axis_1_, mock_rot_axis_2_, mock_rot_axis_3_;
+
+  // Return a random normalized 3d vector.
+  static Eigen::Vector3d RandVector() {
+    Eigen::Vector3d vec = Eigen::Vector3d::Random();
+    vec.normalize();
+    return vec;
+  }
+
+  // Reset mock_pos_offset_ if strayed too far
+  void ResetMockDeviatedPosition();
+
   // If this flag is true, the pose published includes a small prediction of
   // where it'll be when it's consumed.
   bool enable_pose_prediction_;
diff --git a/services/vr/virtual_touchpad/main.cpp b/services/vr/virtual_touchpad/main.cpp
index 68f1d70..e73f8b9 100644
--- a/services/vr/virtual_touchpad/main.cpp
+++ b/services/vr/virtual_touchpad/main.cpp
@@ -9,7 +9,7 @@
 int main() {
   ALOGI("Starting");
   android::dvr::VirtualTouchpadService touchpad_service(
-      std::move(android::dvr::VirtualTouchpadEvdev::Create()));
+      android::dvr::VirtualTouchpadEvdev::Create());
 
   signal(SIGPIPE, SIG_IGN);
   android::sp<android::ProcessState> ps(android::ProcessState::self());