diff --git a/include/android/sensor.h b/include/android/sensor.h
index 45e8afc..7e86d3f 100644
--- a/include/android/sensor.h
+++ b/include/android/sensor.h
@@ -263,6 +263,44 @@
      * Measures the orientation and rotational velocity of a user's head.
      */
     ASENSOR_TYPE_HEAD_TRACKER = 37,
+    /**
+     * {@link ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES}
+     * reporting-mode: continuous
+     *
+     * The first three values are in SI units (m/s^2) and measure the acceleration of the device
+     * minus the force of gravity. The last three values indicate which acceleration axes are
+     * supported. A value of 1.0 means supported and a value of 0 means not supported.
+     */
+    ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES = 38,
+    /**
+     * {@link ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES}
+     * reporting-mode: continuous
+     *
+     * The first three values are in radians/second and measure the rate of rotation around the X,
+     * Y and Z axis. The last three values indicate which rotation axes are supported. A value of
+     * 1.0 means supported and a value of 0 means not supported.
+     */
+    ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES = 39,
+    /**
+     * {@link ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED}
+     * reporting-mode: continuous
+     *
+     * The first three values are in SI units (m/s^2) and measure the acceleration of the device
+     * minus the force of gravity. The middle three values represent the estimated bias for each
+     * axis. The last three values indicate which acceleration axes are supported. A value of 1.0
+     * means supported and a value of 0 means not supported.
+     */
+    ASENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED = 40,
+    /**
+     * {@link ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED}
+     * reporting-mode: continuous
+     *
+     * The first three values are in radians/second and measure the rate of rotation around the X,
+     * Y and Z axis. The middle three values represent the estimated drift around each axis in
+     * rad/s. The last three values indicate which rotation axes are supported. A value of 1.0 means
+     * supported and a value of 0 means not supported.
+     */
+    ASENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED = 41,
 };
 
 /**
@@ -479,6 +517,52 @@
     int32_t discontinuity_count;
 } AHeadTrackerEvent;
 
+typedef struct ALimitedAxesImuEvent {
+    union {
+        float calib[3];
+        struct {
+            float x;
+            float y;
+            float z;
+        };
+    };
+    union {
+        float supported[3];
+        struct {
+            float x_supported;
+            float y_supported;
+            float z_supported;
+        };
+    };
+} ALimitedAxesImuEvent;
+
+typedef struct ALimitedAxesImuUncalibratedEvent {
+    union {
+        float uncalib[3];
+        struct {
+            float x_uncalib;
+            float y_uncalib;
+            float z_uncalib;
+        };
+    };
+    union {
+        float bias[3];
+        struct {
+            float x_bias;
+            float y_bias;
+            float z_bias;
+        };
+    };
+    union {
+        float supported[3];
+        struct {
+            float x_supported;
+            float y_supported;
+            float z_supported;
+        };
+    };
+} ALimitedAxesImuUncalibratedEvent;
+
 /**
  * Information that describes a sensor event, refer to
  * <a href="/reference/android/hardware/SensorEvent">SensorEvent</a> for additional
@@ -516,6 +600,8 @@
             ADynamicSensorEvent dynamic_sensor_meta;
             AAdditionalInfoEvent additional_info;
             AHeadTrackerEvent head_tracker;
+            ALimitedAxesImuEvent limited_axes_imu;
+            ALimitedAxesImuUncalibratedEvent limited_axes_imu_uncalibrated;
         };
         union {
             uint64_t        data[8];
diff --git a/libs/sensor/Sensor.cpp b/libs/sensor/Sensor.cpp
index da88e85..5b4631a 100644
--- a/libs/sensor/Sensor.cpp
+++ b/libs/sensor/Sensor.cpp
@@ -280,6 +280,22 @@
         mStringType = SENSOR_STRING_TYPE_HEAD_TRACKER;
         mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;
         break;
+    case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES:
+        mStringType = SENSOR_STRING_TYPE_ACCELEROMETER_LIMITED_AXES;
+        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;
+        break;
+    case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES:
+        mStringType = SENSOR_STRING_TYPE_GYROSCOPE_LIMITED_AXES;
+        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;
+        break;
+    case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+        mStringType = SENSOR_STRING_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED;
+        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;
+        break;
+    case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
+        mStringType = SENSOR_STRING_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED;
+        mFlags |= SENSOR_FLAG_CONTINUOUS_MODE;
+        break;
     default:
         // Only pipe the stringType, requiredPermission and flags for custom sensors.
         if (halVersion > SENSORS_DEVICE_API_VERSION_1_0 && hwSensor.stringType) {
diff --git a/services/sensorservice/SensorServiceUtils.cpp b/services/sensorservice/SensorServiceUtils.cpp
index baa01c9..c304381 100644
--- a/services/sensorservice/SensorServiceUtils.cpp
+++ b/services/sensorservice/SensorServiceUtils.cpp
@@ -30,12 +30,18 @@
         case SENSOR_TYPE_POSE_6DOF:
             return 16;
 
+        case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES_UNCALIBRATED:
+        case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES_UNCALIBRATED:
+            return 9;
+
         case SENSOR_TYPE_ROTATION_VECTOR:
         case SENSOR_TYPE_GEOMAGNETIC_ROTATION_VECTOR:
             return 5;
 
         case SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED:
         case SENSOR_TYPE_GYROSCOPE_UNCALIBRATED:
+        case SENSOR_TYPE_ACCELEROMETER_LIMITED_AXES:
+        case SENSOR_TYPE_GYROSCOPE_LIMITED_AXES:
             return 6;
 
         case SENSOR_TYPE_GAME_ROTATION_VECTOR: