diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
index 45fab7e..8e9dfea 100644
--- a/services/sensorservice/SensorDevice.cpp
+++ b/services/sensorservice/SensorDevice.cpp
@@ -16,13 +16,6 @@
 
 #include "SensorDevice.h"
 
-#include "android/hardware/sensors/2.0/types.h"
-#include "android/hardware/sensors/2.1/types.h"
-#include "convertV2_1.h"
-
-#include "AidlSensorHalWrapper.h"
-#include "HidlSensorHalWrapper.h"
-
 #include <android-base/logging.h>
 #include <android/util/ProtoOutputStream.h>
 #include <com_android_frameworks_sensorservice_flags.h>
@@ -36,10 +29,16 @@
 
 #include <chrono>
 #include <cinttypes>
-#include <cstddef>
-#include <thread>
-#include <mutex>
 #include <condition_variable>
+#include <cstddef>
+#include <mutex>
+#include <thread>
+
+#include "AidlSensorHalWrapper.h"
+#include "HidlSensorHalWrapper.h"
+#include "android/hardware/sensors/2.0/types.h"
+#include "android/hardware/sensors/2.1/types.h"
+#include "convertV2_1.h"
 
 using namespace android::hardware::sensors;
 using android::util::ProtoOutputStream;
@@ -168,6 +167,9 @@
 
     mActivationCount.clear();
     mSensorList.clear();
+    if (sensorservice_flags::dynamic_sensor_hal_reconnect_handling()) {
+        mConnectedDynamicSensors.clear();
+    }
 
     if (mHalWrapper->connect(this)) {
         initializeSensorList();
@@ -342,6 +344,15 @@
     }
 }
 
+std::vector<int32_t> SensorDevice::getDynamicSensorHandles() {
+    std::vector<int32_t> sensorHandles;
+    std::lock_guard<std::mutex> lock(mDynamicSensorsMutex);
+    for (auto& sensors : mConnectedDynamicSensors) {
+        sensorHandles.push_back(sensors.first);
+    }
+    return sensorHandles;
+}
+
 ssize_t SensorDevice::getSensorList(sensor_t const** list) {
     *list = &mSensorList[0];
 
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
index f127c0f..52f7cf2 100644
--- a/services/sensorservice/SensorDevice.h
+++ b/services/sensorservice/SensorDevice.h
@@ -60,6 +60,8 @@
 
     ssize_t getSensorList(sensor_t const** list);
 
+    std::vector<int32_t> getDynamicSensorHandles();
+
     void handleDynamicSensorConnection(int handle, bool connected);
     status_t initCheck() const;
     int getHalDeviceVersion() const;
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
index 85043c9..e1c43c6 100644
--- a/services/sensorservice/SensorService.cpp
+++ b/services/sensorservice/SensorService.cpp
@@ -13,6 +13,8 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  */
+#include "SensorService.h"
+
 #include <aidl/android/hardware/sensors/ISensors.h>
 #include <android-base/strings.h>
 #include <android/content/pm/IPackageManagerNative.h>
@@ -22,20 +24,36 @@
 #include <binder/IServiceManager.h>
 #include <binder/PermissionCache.h>
 #include <binder/PermissionController.h>
+#include <com_android_frameworks_sensorservice_flags.h>
 #include <cutils/ashmem.h>
 #include <cutils/misc.h>
 #include <cutils/properties.h>
 #include <frameworks/base/core/proto/android/service/sensor_service.proto.h>
 #include <hardware/sensors.h>
 #include <hardware_legacy/power.h>
+#include <inttypes.h>
 #include <log/log.h>
+#include <math.h>
 #include <openssl/digest.h>
 #include <openssl/hmac.h>
 #include <openssl/rand.h>
+#include <private/android_filesystem_config.h>
+#include <sched.h>
 #include <sensor/SensorEventQueue.h>
 #include <sensorprivacy/SensorPrivacyManager.h>
+#include <stdint.h>
+#include <sys/socket.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
 #include <utils/SystemClock.h>
 
+#include <condition_variable>
+#include <ctime>
+#include <future>
+#include <mutex>
+#include <string>
+
 #include "BatteryService.h"
 #include "CorrectedGyroSensor.h"
 #include "GravitySensor.h"
@@ -43,35 +61,17 @@
 #include "LinearAccelerationSensor.h"
 #include "OrientationSensor.h"
 #include "RotationVectorSensor.h"
-#include "SensorFusion.h"
-#include "SensorInterface.h"
-
-#include "SensorService.h"
 #include "SensorDirectConnection.h"
 #include "SensorEventAckReceiver.h"
 #include "SensorEventConnection.h"
+#include "SensorFusion.h"
+#include "SensorInterface.h"
 #include "SensorRecord.h"
 #include "SensorRegistrationInfo.h"
 #include "SensorServiceUtils.h"
 
-#include <inttypes.h>
-#include <math.h>
-#include <sched.h>
-#include <stdint.h>
-#include <sys/socket.h>
-#include <sys/stat.h>
-#include <sys/types.h>
-#include <unistd.h>
-
-#include <condition_variable>
-#include <ctime>
-#include <future>
-#include <mutex>
-#include <string>
-
-#include <private/android_filesystem_config.h>
-
 using namespace std::chrono_literals;
+namespace sensorservice_flags = com::android::frameworks::sensorservice::flags;
 
 namespace android {
 // ---------------------------------------------------------------------------
@@ -335,6 +335,11 @@
                     case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
                         hasGyroUncalibrated = true;
                         break;
+                    case SENSOR_TYPE_DYNAMIC_SENSOR_META:
+                        if (sensorservice_flags::dynamic_sensor_hal_reconnect_handling()) {
+                            mDynamicMetaSensorHandle = list[i].handle;
+                        }
+                      break;
                     case SENSOR_TYPE_GRAVITY:
                     case SENSOR_TYPE_LINEAR_ACCELERATION:
                     case SENSOR_TYPE_ROTATION_VECTOR:
@@ -1055,6 +1060,68 @@
    }
 }
 
+void SensorService::sendEventsToAllClients(
+    const std::vector<sp<SensorEventConnection>>& activeConnections,
+    ssize_t count) {
+   // Send our events to clients. Check the state of wake lock for each client
+   // and release the lock if none of the clients need it.
+   bool needsWakeLock = false;
+   for (const sp<SensorEventConnection>& connection : activeConnections) {
+       connection->sendEvents(mSensorEventBuffer, count, mSensorEventScratch,
+                              mMapFlushEventsToConnections);
+       needsWakeLock |= connection->needsWakeLock();
+       // If the connection has one-shot sensors, it may be cleaned up after
+       // first trigger. Early check for one-shot sensors.
+       if (connection->hasOneShotSensors()) {
+           cleanupAutoDisabledSensorLocked(connection, mSensorEventBuffer, count);
+       }
+   }
+
+   if (mWakeLockAcquired && !needsWakeLock) {
+        setWakeLockAcquiredLocked(false);
+   }
+}
+
+void SensorService::disconnectDynamicSensor(
+    int handle,
+    const std::vector<sp<SensorEventConnection>>& activeConnections) {
+   ALOGI("Dynamic sensor handle 0x%x disconnected", handle);
+   SensorDevice::getInstance().handleDynamicSensorConnection(
+       handle, false /*connected*/);
+   if (!unregisterDynamicSensorLocked(handle)) {
+        ALOGE("Dynamic sensor release error.");
+   }
+   for (const sp<SensorEventConnection>& connection : activeConnections) {
+        connection->removeSensor(handle);
+   }
+}
+
+void SensorService::handleDeviceReconnection(SensorDevice& device) {
+    if (sensorservice_flags::dynamic_sensor_hal_reconnect_handling()) {
+        const std::vector<sp<SensorEventConnection>> activeConnections =
+                mConnectionHolder.lock(mLock).getActiveConnections();
+
+        for (int32_t handle : device.getDynamicSensorHandles()) {
+            if (mDynamicMetaSensorHandle.has_value()) {
+                // Sending one event at a time to prevent the number of handle is more than the
+                // buffer can hold.
+                mSensorEventBuffer[0].type = SENSOR_TYPE_DYNAMIC_SENSOR_META;
+                mSensorEventBuffer[0].sensor = *mDynamicMetaSensorHandle;
+                mSensorEventBuffer[0].dynamic_sensor_meta.connected = false;
+                mSensorEventBuffer[0].dynamic_sensor_meta.handle = handle;
+                mMapFlushEventsToConnections[0] = nullptr;
+
+                disconnectDynamicSensor(handle, activeConnections);
+                sendEventsToAllClients(activeConnections, 1);
+            } else {
+                ALOGE("Failed to find mDynamicMetaSensorHandle during init.");
+                break;
+            }
+        }
+    }
+    device.reconnect();
+}
+
 bool SensorService::threadLoop() {
     ALOGD("nuSensorService thread starting...");
 
@@ -1071,8 +1138,8 @@
     do {
         ssize_t count = device.poll(mSensorEventBuffer, numEventMax);
         if (count < 0) {
-            if(count == DEAD_OBJECT && device.isReconnecting()) {
-                device.reconnect();
+            if (count == DEAD_OBJECT && device.isReconnecting()) {
+                handleDeviceReconnection(device);
                 continue;
             } else {
                 ALOGE("sensor poll failed (%s)", strerror(-count));
@@ -1176,7 +1243,6 @@
                     rec->removeFirstPendingFlushConnection();
                 }
             }
-
             // handle dynamic sensor meta events, process registration and unregistration of dynamic
             // sensor based on content of event.
             if (mSensorEventBuffer[i].type == SENSOR_TYPE_DYNAMIC_SENSOR_META) {
@@ -1206,37 +1272,14 @@
                     }
                 } else {
                     int handle = mSensorEventBuffer[i].dynamic_sensor_meta.handle;
-                    ALOGI("Dynamic sensor handle 0x%x disconnected", handle);
-
-                    device.handleDynamicSensorConnection(handle, false /*connected*/);
-                    if (!unregisterDynamicSensorLocked(handle)) {
-                        ALOGE("Dynamic sensor release error.");
-                    }
-
-                    for (const sp<SensorEventConnection>& connection : activeConnections) {
-                        connection->removeSensor(handle);
-                    }
+                    disconnectDynamicSensor(handle, activeConnections);
                 }
             }
         }
 
         // Send our events to clients. Check the state of wake lock for each client and release the
         // lock if none of the clients need it.
-        bool needsWakeLock = false;
-        for (const sp<SensorEventConnection>& connection : activeConnections) {
-            connection->sendEvents(mSensorEventBuffer, count, mSensorEventScratch,
-                                   mMapFlushEventsToConnections);
-            needsWakeLock |= connection->needsWakeLock();
-            // If the connection has one-shot sensors, it may be cleaned up after first trigger.
-            // Early check for one-shot sensors.
-            if (connection->hasOneShotSensors()) {
-                cleanupAutoDisabledSensorLocked(connection, mSensorEventBuffer, count);
-            }
-        }
-
-        if (mWakeLockAcquired && !needsWakeLock) {
-            setWakeLockAcquiredLocked(false);
-        }
+        sendEventsToAllClients(activeConnections, count);
     } while (!Thread::exitPending());
 
     ALOGW("Exiting SensorService::threadLoop => aborting...");
diff --git a/services/sensorservice/SensorService.h b/services/sensorservice/SensorService.h
index b643f6b..ad10e7a 100644
--- a/services/sensorservice/SensorService.h
+++ b/services/sensorservice/SensorService.h
@@ -17,9 +17,6 @@
 #ifndef ANDROID_SENSOR_SERVICE_H
 #define ANDROID_SENSOR_SERVICE_H
 
-#include "SensorList.h"
-#include "RecentEventLogger.h"
-
 #include <android-base/macros.h>
 #include <binder/AppOpsManager.h>
 #include <binder/BinderService.h>
@@ -27,11 +24,11 @@
 #include <cutils/compiler.h>
 #include <cutils/multiuser.h>
 #include <private/android_filesystem_config.h>
-#include <sensor/ISensorServer.h>
 #include <sensor/ISensorEventConnection.h>
+#include <sensor/ISensorServer.h>
 #include <sensor/Sensor.h>
-#include "android/hardware/BnSensorPrivacyListener.h"
-
+#include <stdint.h>
+#include <sys/types.h>
 #include <utils/AndroidThreads.h>
 #include <utils/KeyedVector.h>
 #include <utils/Looper.h>
@@ -40,8 +37,6 @@
 #include <utils/Vector.h>
 #include <utils/threads.h>
 
-#include <stdint.h>
-#include <sys/types.h>
 #include <condition_variable>
 #include <mutex>
 #include <queue>
@@ -49,6 +44,10 @@
 #include <unordered_set>
 #include <vector>
 
+#include "RecentEventLogger.h"
+#include "SensorList.h"
+#include "android/hardware/BnSensorPrivacyListener.h"
+
 #if __clang__
 // Clang warns about SensorEventConnection::dump hiding BBinder::dump. The cause isn't fixable
 // without changing the API, so let's tell clang this is indeed intentional.
@@ -57,7 +56,7 @@
 
 // ---------------------------------------------------------------------------
 #define IGNORE_HARDWARE_FUSION  false
-#define DEBUG_CONNECTIONS   false
+#define DEBUG_CONNECTIONS false
 // Max size is 100 KB which is enough to accept a batch of about 1000 events.
 #define MAX_SOCKET_BUFFER_SIZE_BATCHED (100 * 1024)
 // For older HALs which don't support batching, use a smaller socket buffer size.
@@ -453,6 +452,11 @@
     // Send events from the event cache for this particular connection.
     void sendEventsFromCache(const sp<SensorEventConnection>& connection);
 
+    // Send all events in the buffer to all clients.
+    void sendEventsToAllClients(
+        const std::vector<sp<SensorEventConnection>>& activeConnections,
+        ssize_t count);
+
     // If SensorService is operating in RESTRICTED mode, only select whitelisted packages are
     // allowed to register for or call flush on sensors. Typically only cts test packages are
     // allowed.
@@ -516,6 +520,14 @@
 
     bool isInjectionMode(int mode);
 
+    void handleDeviceReconnection(SensorDevice& device);
+
+    // Removes a connected dynamic sensor and send the corresponding event to
+    // all connections.
+    void disconnectDynamicSensor(
+        int handle,
+        const std::vector<sp<SensorEventConnection>>& activeConnections);
+
     static inline bool isAudioServerOrSystemServerUid(uid_t uid) {
         return multiuser_get_app_id(uid) == AID_SYSTEM || uid == AID_AUDIOSERVER;
     }
@@ -583,6 +595,10 @@
     bool mLastReportedProxIsActive;
     // Listeners subscribed to receive updates on the proximity sensor active state.
     std::vector<sp<ProximityActiveListener>> mProximityActiveListeners;
+
+    // Stores the handle of the dynamic_meta sensor to send clean up event once
+    // HAL crashes.
+    std::optional<int> mDynamicMetaSensorHandle;
 };
 
 } // namespace android