diff --git a/services/sensorservice/SensorDevice.cpp b/services/sensorservice/SensorDevice.cpp
index c233bf0..e0511bf 100644
--- a/services/sensorservice/SensorDevice.cpp
+++ b/services/sensorservice/SensorDevice.cpp
@@ -614,6 +614,8 @@
 
 Return<void> SensorDevice::onDynamicSensorsConnected(
         const hidl_vec<SensorInfo> &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) {
@@ -629,6 +631,8 @@
                 std::make_pair(sensor->handle, sensor));
     }
 
+    mDynamicSensorsCv.notify_all();
+
     return Return<void>();
 }
 
@@ -1174,8 +1178,20 @@
         dst->dynamic_sensor_meta.connected = dyn.connected;
         dst->dynamic_sensor_meta.handle = dyn.sensorHandle;
         if (dyn.connected) {
+            std::unique_lock<std::mutex> lock(mDynamicSensorsMutex);
+            // Give MAX_DYN_SENSOR_WAIT_SEC for onDynamicSensorsConnected to be invoked since it
+            // can be received out of order from this event due to a bug in the HIDL spec that
+            // marks it as oneway.
             auto it = mConnectedDynamicSensors.find(dyn.sensorHandle);
-            CHECK(it != mConnectedDynamicSensors.end());
+            if (it == mConnectedDynamicSensors.end()) {
+                mDynamicSensorsCv.wait_for(lock, MAX_DYN_SENSOR_WAIT,
+                        [&, dyn]{
+                            return mConnectedDynamicSensors.find(dyn.sensorHandle)
+                                    != mConnectedDynamicSensors.end();
+                });
+                it = mConnectedDynamicSensors.find(dyn.sensorHandle);
+                CHECK(it != mConnectedDynamicSensors.end());
+            }
 
             dst->dynamic_sensor_meta.sensor = it->second;
 
diff --git a/services/sensorservice/SensorDevice.h b/services/sensorservice/SensorDevice.h
index 75da7bb..bc8d20f 100644
--- a/services/sensorservice/SensorDevice.h
+++ b/services/sensorservice/SensorDevice.h
@@ -139,6 +139,14 @@
     Vector<sensor_t> mSensorList;
     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
+    // used to block meta event processing until onDynamicSensorsConnected is received to simplify
+    // HAL implementations.
+    std::mutex mDynamicSensorsMutex;
+    std::condition_variable mDynamicSensorsCv;
+    static constexpr std::chrono::seconds MAX_DYN_SENSOR_WAIT{5};
+
     static const nsecs_t MINIMUM_EVENTS_PERIOD =   1000000; // 1000 Hz
     mutable Mutex mLock; // protect mActivationCount[].batchParams
     // fixed-size array after construction