diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
index c92ab1a..763cb8e 100644
--- a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/Event.aidl
@@ -52,6 +52,8 @@
     android.hardware.sensors.AdditionalInfo additional;
     android.hardware.sensors.Event.EventPayload.Data data;
     android.hardware.sensors.Event.EventPayload.HeadTracker headTracker;
+    android.hardware.sensors.Event.EventPayload.LimitedAxesImu limitedAxesImu;
+    android.hardware.sensors.Event.EventPayload.LimitedAxesImuUncal limitedAxesImuUncal;
     @FixedSize @VintfStability
     parcelable Vec4 {
       float x;
@@ -86,6 +88,27 @@
       int discontinuityCount;
     }
     @FixedSize @VintfStability
+    parcelable LimitedAxesImu {
+      float x;
+      float y;
+      float z;
+      float xSupported;
+      float ySupported;
+      float zSupported;
+    }
+    @FixedSize @VintfStability
+    parcelable LimitedAxesImuUncal {
+      float x;
+      float y;
+      float z;
+      float xBias;
+      float yBias;
+      float zBias;
+      float xSupported;
+      float ySupported;
+      float zSupported;
+    }
+    @FixedSize @VintfStability
     parcelable HeartRate {
       float bpm;
       android.hardware.sensors.SensorStatus status;
diff --git a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
index 3d7ab45..896617b 100644
--- a/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
+++ b/sensors/aidl/aidl_api/android.hardware.sensors/current/android/hardware/sensors/SensorType.aidl
@@ -71,5 +71,9 @@
   ACCELEROMETER_UNCALIBRATED = 35,
   HINGE_ANGLE = 36,
   HEAD_TRACKER = 37,
+  ACCELEROMETER_LIMITED_AXES = 38,
+  GYROSCOPE_LIMITED_AXES = 39,
+  ACCELEROMETER_LIMITED_AXES_UNCALIBRATED = 40,
+  GYROSCOPE_LIMITED_AXES_UNCALIBRATED = 41,
   DEVICE_PRIVATE_BASE = 65536,
 }
diff --git a/sensors/aidl/android/hardware/sensors/Event.aidl b/sensors/aidl/android/hardware/sensors/Event.aidl
index fd6a8cc..8b7e409 100644
--- a/sensors/aidl/android/hardware/sensors/Event.aidl
+++ b/sensors/aidl/android/hardware/sensors/Event.aidl
@@ -132,6 +132,18 @@
          */
         HeadTracker headTracker;
 
+        /**
+         * SensorType::ACCELEROMETER_LIMITED_AXES
+         * SensorType::GYROSCOPE_LIMITED_AXES
+         */
+        LimitedAxesImu limitedAxesImu;
+
+        /**
+         * SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED
+         * SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED
+         */
+        LimitedAxesImuUncal limitedAxesImuUncal;
+
         @FixedSize
         @VintfStability
         parcelable Vec4 {
@@ -201,6 +213,70 @@
             int discontinuityCount;
         }
 
+        /**
+         * Payload of the ACCELEROMETER_LIMITED_AXES and GYROSCOPE_LIMITED_AXES
+         * sensor types.
+         */
+        @FixedSize
+        @VintfStability
+        parcelable LimitedAxesImu {
+            /**
+             * Acceleration or angular speed values.  If certain axes are not
+             * supported, the associated value must be set to 0.
+             */
+            float x;
+            float y;
+            float z;
+
+            /**
+             * Limited axes sensors must not be supported for all three axes.
+             * These values indicate which axes are supported with a 1.0 for
+             * supported, and a 0 for not supported. The supported axes should
+             * be determined at build time and these values must not change
+             * during runtime.
+             */
+            float xSupported;
+            float ySupported;
+            float zSupported;
+        }
+
+        /**
+         * Payload of the ACCELEROMETER_LIMITED_AXES_UNCALIBRATED and
+         * GYROSCOPE_LIMITED_AXES_UNCALIBRATED sensor types.
+         */
+        @FixedSize
+        @VintfStability
+        parcelable LimitedAxesImuUncal {
+            /**
+             * Acceleration (without bias compensation) or angular (speed
+             * (without drift compensation) values. If certain axes are not
+             * supported, the associated value must be set to 0.
+             */
+            float x;
+            float y;
+            float z;
+
+            /**
+             * Estimated bias values for uncalibrated accelerometer or
+             * estimated drift values for uncalibrated gyroscope. If certain
+             * axes are not supported, the associated value must be set to 0.
+             */
+            float xBias;
+            float yBias;
+            float zBias;
+
+            /**
+             * Limited axes sensors must not be supported for all three axes.
+             * These values indicate which axes are supported with a 1.0 for
+             * supported, and a 0 for not supported. The supported axes should
+             * be determined at build time and these values must not change
+             * during runtime.
+             */
+            float xSupported;
+            float ySupported;
+            float zSupported;
+        }
+
         @FixedSize
         @VintfStability
         parcelable HeartRate {
diff --git a/sensors/aidl/android/hardware/sensors/SensorType.aidl b/sensors/aidl/android/hardware/sensors/SensorType.aidl
index 01e6bee..000728c 100644
--- a/sensors/aidl/android/hardware/sensors/SensorType.aidl
+++ b/sensors/aidl/android/hardware/sensors/SensorType.aidl
@@ -667,6 +667,42 @@
     HEAD_TRACKER = 37,
 
     /**
+     * ACCELEROMETER_LIMITED_AXES
+     * reporting-mode: continuous
+     *
+     * Equivalent to ACCELEROMETER, but supporting cases where one or two axes
+     * are not supported.
+     */
+    ACCELEROMETER_LIMITED_AXES = 38,
+
+    /**
+     * GYROSCOPE_LIMITED_AXES
+     * reporting-mode: continuous
+     *
+     * Equivalent to GYROSCOPE, but supporting cases where one or two axes are
+     * not supported.
+     */
+    GYROSCOPE_LIMITED_AXES = 39,
+
+    /**
+     * ACCELEROMETER_LIMITED_AXES_UNCALIBRATED
+     * reporting-mode: continuous
+     *
+     * Equivalent to ACCELEROMETER_UNCALIBRATED, but supporting cases where one
+     * or two axes are not supported.
+     */
+    ACCELEROMETER_LIMITED_AXES_UNCALIBRATED = 40,
+
+    /**
+     * GYROSCOPE_LIMITED_AXES_UNCALIBRATED
+     * reporting-mode: continuous
+     *
+     * Equivalent to GYROSCOPE_UNCALIBRATED, but supporting cases where one or
+     * two axes are not supported.
+     */
+    GYROSCOPE_LIMITED_AXES_UNCALIBRATED = 41,
+
+    /**
      * Base for device manufacturers private sensor types.
      * These sensor types can't be exposed in the SDK.
      */