diff --git a/include/android/sensor.h b/include/android/sensor.h
index 6112d5f..eef69f4 100644
--- a/include/android/sensor.h
+++ b/include/android/sensor.h
@@ -267,7 +267,8 @@
      * {@link ASENSOR_TYPE_HEAD_TRACKER}
      * reporting-mode: continuous
      *
-     * Measures the orientation and rotational velocity of a user's head.
+     * Measures the orientation and rotational velocity of a user's head. Only for internal use
+     * within the Android system.
      */
     ASENSOR_TYPE_HEAD_TRACKER = 37,
     /**
diff --git a/services/sensorservice/SensorDirectConnection.cpp b/services/sensorservice/SensorDirectConnection.cpp
index fae16f6..2dd12e9 100644
--- a/services/sensorservice/SensorDirectConnection.cpp
+++ b/services/sensorservice/SensorDirectConnection.cpp
@@ -157,7 +157,7 @@
     }
 
     const Sensor& s = si->getSensor();
-    if (!SensorService::canAccessSensor(s, "config direct channel", mOpPackageName)) {
+    if (!mService->canAccessSensor(s, "config direct channel", mOpPackageName)) {
         return PERMISSION_DENIED;
     }
 
diff --git a/services/sensorservice/SensorEventConnection.cpp b/services/sensorservice/SensorEventConnection.cpp
index 6948895..f06f947 100644
--- a/services/sensorservice/SensorEventConnection.cpp
+++ b/services/sensorservice/SensorEventConnection.cpp
@@ -162,7 +162,8 @@
     Mutex::Autolock _l(mConnectionLock);
     sp<SensorInterface> si = mService->getSensorInterfaceFromHandle(handle);
     if (si == nullptr ||
-        !canAccessSensor(si->getSensor(), "Add to SensorEventConnection: ", mOpPackageName) ||
+        !mService->canAccessSensor(si->getSensor(), "Add to SensorEventConnection: ",
+                                   mOpPackageName) ||
         mSensorInfo.count(handle) > 0) {
         return false;
     }
diff --git a/services/sensorservice/SensorService.cpp b/services/sensorservice/SensorService.cpp
index 88cf5ab..948692b 100644
--- a/services/sensorservice/SensorService.cpp
+++ b/services/sensorservice/SensorService.cpp
@@ -814,6 +814,12 @@
         return handleResetUidState(args, err);
     } else if (args[0] == String16("get-uid-state")) {
         return handleGetUidState(args, out, err);
+    } else if (args[0] == String16("unrestrict-ht")) {
+        mHtRestricted = false;
+        return NO_ERROR;
+    } else if (args[0] == String16("restrict-ht")) {
+        mHtRestricted = true;
+        return NO_ERROR;
     } else if (args.size() == 1 && args[0] == String16("help")) {
         printHelp(out);
         return NO_ERROR;
@@ -1338,11 +1344,11 @@
 Vector<Sensor> SensorService::getDynamicSensorList(const String16& opPackageName) {
     Vector<Sensor> accessibleSensorList;
     mSensors.forEachSensor(
-            [&opPackageName, &accessibleSensorList] (const Sensor& sensor) -> bool {
+            [this, &opPackageName, &accessibleSensorList] (const Sensor& sensor) -> bool {
                 if (sensor.isDynamicSensor()) {
-                    if (canAccessSensor(sensor, "getDynamicSensorList", opPackageName)) {
+                    if (canAccessSensor(sensor, "can't see", opPackageName)) {
                         accessibleSensorList.add(sensor);
-                    } else {
+                    } else if (sensor.getType() != SENSOR_TYPE_HEAD_TRACKER) {
                         ALOGI("Skipped sensor %s because it requires permission %s and app op %" PRId32,
                               sensor.getName().string(),
                               sensor.getRequiredPermission().string(),
@@ -1989,6 +1995,20 @@
 
 bool SensorService::canAccessSensor(const Sensor& sensor, const char* operation,
         const String16& opPackageName) {
+    // Special case for Head Tracker sensor type: currently restricted to system usage only, unless
+    // the restriction is specially lifted for testing
+    if (sensor.getType() == SENSOR_TYPE_HEAD_TRACKER &&
+            !isAudioServerOrSystemServerUid(IPCThreadState::self()->getCallingUid())) {
+        if (!mHtRestricted) {
+            ALOGI("Permitting access to HT sensor type outside system (%s)",
+                  String8(opPackageName).string());
+        } else {
+            ALOGW("%s %s a sensor (%s) as a non-system client", String8(opPackageName).string(),
+                  operation, sensor.getName().string());
+            return false;
+        }
+    }
+
     // Check if a permission is required for this sensor
     if (sensor.getRequiredPermission().length() <= 0) {
         return true;
diff --git a/services/sensorservice/SensorService.h b/services/sensorservice/SensorService.h
index b18d204..234dc9c 100644
--- a/services/sensorservice/SensorService.h
+++ b/services/sensorservice/SensorService.h
@@ -373,7 +373,7 @@
     status_t cleanupWithoutDisableLocked(const sp<SensorEventConnection>& connection, int handle);
     void cleanupAutoDisabledSensorLocked(const sp<SensorEventConnection>& connection,
             sensors_event_t const* buffer, const int count);
-    static bool canAccessSensor(const Sensor& sensor, const char* operation,
+    bool canAccessSensor(const Sensor& sensor, const char* operation,
             const String16& opPackageName);
     static bool hasPermissionForSensor(const Sensor& sensor);
     static int getTargetSdkVersion(const String16& opPackageName);
@@ -492,6 +492,10 @@
     std::unordered_map<int, SensorServiceUtil::RecentEventLogger*> mRecentEvent;
     Mode mCurrentOperatingMode;
 
+    // true if the head tracker sensor type is currently restricted to system usage only
+    // (can only be unrestricted for testing, via shell cmd)
+    bool mHtRestricted = true;
+
     // This packagaName is set when SensorService is in RESTRICTED or DATA_INJECTION mode. Only
     // applications with this packageName are allowed to activate/deactivate or call flush on
     // sensors. To run CTS this is can be set to ".cts." and only CTS tests will get access to