diff --git a/bluetooth/audio/aidl/aidl_api/android.hardware.bluetooth.audio/current/android/hardware/bluetooth/audio/CodecType.aidl b/bluetooth/audio/aidl/aidl_api/android.hardware.bluetooth.audio/current/android/hardware/bluetooth/audio/CodecType.aidl
index 44b434b..3a5f951 100644
--- a/bluetooth/audio/aidl/aidl_api/android.hardware.bluetooth.audio/current/android/hardware/bluetooth/audio/CodecType.aidl
+++ b/bluetooth/audio/aidl/aidl_api/android.hardware.bluetooth.audio/current/android/hardware/bluetooth/audio/CodecType.aidl
@@ -41,4 +41,5 @@
   APTX_HD = 4,
   LDAC = 5,
   LC3 = 6,
+  VENDOR = 7,
 }
diff --git a/bluetooth/audio/aidl/android/hardware/bluetooth/audio/CodecType.aidl b/bluetooth/audio/aidl/android/hardware/bluetooth/audio/CodecType.aidl
index 68c60f5..9c33081 100644
--- a/bluetooth/audio/aidl/android/hardware/bluetooth/audio/CodecType.aidl
+++ b/bluetooth/audio/aidl/android/hardware/bluetooth/audio/CodecType.aidl
@@ -26,4 +26,5 @@
     APTX_HD,
     LDAC,
     LC3,
+    VENDOR,
 }
diff --git a/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp b/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp
index 92cd0f5..380732f 100644
--- a/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp
+++ b/bluetooth/audio/utils/aidl_session/BluetoothAudioCodecs.cpp
@@ -355,6 +355,7 @@
                 kDefaultOffloadLc3Capability);
         break;
       case CodecType::UNKNOWN:
+      case CodecType::VENDOR:
         codec_capability = {};
         break;
     }
@@ -420,6 +421,7 @@
       }
       break;
     case CodecType::UNKNOWN:
+    case CodecType::VENDOR:
       break;
   }
   return false;
diff --git a/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/Setting.aidl b/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/Setting.aidl
index 41bc9ae..d998478 100644
--- a/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/Setting.aidl
+++ b/contexthub/aidl/aidl_api/android.hardware.contexthub/current/android/hardware/contexthub/Setting.aidl
@@ -39,4 +39,6 @@
   WIFI_SCANNING = 3,
   AIRPLANE_MODE = 4,
   MICROPHONE = 5,
+  BT_MAIN = 6,
+  BT_SCANNING = 7,
 }
diff --git a/contexthub/aidl/android/hardware/contexthub/Setting.aidl b/contexthub/aidl/android/hardware/contexthub/Setting.aidl
index f2e55db..91d4c3f 100644
--- a/contexthub/aidl/android/hardware/contexthub/Setting.aidl
+++ b/contexthub/aidl/android/hardware/contexthub/Setting.aidl
@@ -39,4 +39,12 @@
      * by CHRE.
      */
     MICROPHONE,
+    /**
+     * The main BT toggle in the Android settings for BT connectivity.
+     */
+    BT_MAIN,
+    /**
+     * The "BT scanning" setting for location scans.
+     */
+    BT_SCANNING,
 }
diff --git a/contexthub/aidl/vts/VtsAidlHalContextHubTargetTest.cpp b/contexthub/aidl/vts/VtsAidlHalContextHubTargetTest.cpp
index a47f64e..f0583be 100644
--- a/contexthub/aidl/vts/VtsAidlHalContextHubTargetTest.cpp
+++ b/contexthub/aidl/vts/VtsAidlHalContextHubTargetTest.cpp
@@ -300,6 +300,14 @@
     testSettingChanged(Setting::MICROPHONE);
 }
 
+TEST_P(ContextHubAidl, TestOnBtMainSettingChanged) {
+    testSettingChanged(Setting::BT_MAIN);
+}
+
+TEST_P(ContextHubAidl, TestOnBtScanningSettingChanged) {
+    testSettingChanged(Setting::BT_SCANNING);
+}
+
 std::vector<std::tuple<std::string, int32_t>> generateContextHubMapping() {
     std::vector<std::tuple<std::string, int32_t>> tuples;
     auto contextHubAidlNames = android::getAidlHalInstanceNames(IContextHub::descriptor);
diff --git a/neuralnetworks/1.0/utils/Android.bp b/neuralnetworks/1.0/utils/Android.bp
index 31cdded..ad30e30 100644
--- a/neuralnetworks/1.0/utils/Android.bp
+++ b/neuralnetworks/1.0/utils/Android.bp
@@ -31,16 +31,11 @@
     export_include_dirs: ["include"],
     cflags: ["-Wthread-safety"],
     static_libs: [
+        "android.hardware.neuralnetworks@1.0",
         "libarect",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
     ],
-    shared_libs: [
-        "android.hardware.neuralnetworks@1.0",
-    ],
-    export_static_lib_headers: [
-        "neuralnetworks_utils_hal_common",
-    ],
     target: {
         android: {
             shared_libs: ["libnativewindow"],
@@ -55,19 +50,14 @@
     static_libs: [
         "android.hardware.neuralnetworks@1.0",
         "libgmock",
-        "libneuralnetworks_common",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
         "neuralnetworks_utils_hal_1_0",
     ],
     shared_libs: [
-        "android.hidl.allocator@1.0",
-        "android.hidl.memory@1.0",
         "libbase",
         "libcutils",
-        "libfmq",
         "libhidlbase",
-        "libhidlmemory",
         "liblog",
         "libutils",
     ],
diff --git a/neuralnetworks/1.1/utils/Android.bp b/neuralnetworks/1.1/utils/Android.bp
index 737ff58..4b8999f 100644
--- a/neuralnetworks/1.1/utils/Android.bp
+++ b/neuralnetworks/1.1/utils/Android.bp
@@ -31,17 +31,12 @@
     export_include_dirs: ["include"],
     cflags: ["-Wthread-safety"],
     static_libs: [
+        "android.hardware.neuralnetworks@1.0",
+        "android.hardware.neuralnetworks@1.1",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
         "neuralnetworks_utils_hal_1_0",
     ],
-    shared_libs: [
-        "android.hardware.neuralnetworks@1.0",
-        "android.hardware.neuralnetworks@1.1",
-    ],
-    export_static_lib_headers: [
-        "neuralnetworks_utils_hal_common",
-    ],
 }
 
 cc_test {
@@ -52,20 +47,15 @@
         "android.hardware.neuralnetworks@1.0",
         "android.hardware.neuralnetworks@1.1",
         "libgmock",
-        "libneuralnetworks_common",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
         "neuralnetworks_utils_hal_1_0",
         "neuralnetworks_utils_hal_1_1",
     ],
     shared_libs: [
-        "android.hidl.allocator@1.0",
-        "android.hidl.memory@1.0",
         "libbase",
         "libcutils",
-        "libfmq",
         "libhidlbase",
-        "libhidlmemory",
         "liblog",
         "libutils",
     ],
diff --git a/neuralnetworks/1.2/utils/Android.bp b/neuralnetworks/1.2/utils/Android.bp
index 4eefb0f..4c5f065 100644
--- a/neuralnetworks/1.2/utils/Android.bp
+++ b/neuralnetworks/1.2/utils/Android.bp
@@ -31,19 +31,14 @@
     export_include_dirs: ["include"],
     cflags: ["-Wthread-safety"],
     static_libs: [
-        "neuralnetworks_types",
-        "neuralnetworks_utils_hal_common",
-        "neuralnetworks_utils_hal_1_0",
-        "neuralnetworks_utils_hal_1_1",
-    ],
-    shared_libs: [
         "android.hardware.neuralnetworks@1.0",
         "android.hardware.neuralnetworks@1.1",
         "android.hardware.neuralnetworks@1.2",
         "libfmq",
-    ],
-    export_static_lib_headers: [
+        "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
+        "neuralnetworks_utils_hal_1_0",
+        "neuralnetworks_utils_hal_1_1",
     ],
     product_variables: {
         debuggable: { // eng and userdebug builds
@@ -71,7 +66,6 @@
         "android.hardware.neuralnetworks@1.1",
         "android.hardware.neuralnetworks@1.2",
         "libgmock",
-        "libneuralnetworks_common",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
         "neuralnetworks_utils_hal_1_0",
@@ -79,13 +73,10 @@
         "neuralnetworks_utils_hal_1_2",
     ],
     shared_libs: [
-        "android.hidl.allocator@1.0",
-        "android.hidl.memory@1.0",
         "libbase",
         "libcutils",
         "libfmq",
         "libhidlbase",
-        "libhidlmemory",
         "liblog",
         "libutils",
     ],
diff --git a/neuralnetworks/1.3/utils/Android.bp b/neuralnetworks/1.3/utils/Android.bp
index 7acb4fc..c512dda 100644
--- a/neuralnetworks/1.3/utils/Android.bp
+++ b/neuralnetworks/1.3/utils/Android.bp
@@ -31,21 +31,16 @@
     export_include_dirs: ["include"],
     cflags: ["-Wthread-safety"],
     static_libs: [
-        "neuralnetworks_types",
-        "neuralnetworks_utils_hal_common",
-        "neuralnetworks_utils_hal_1_0",
-        "neuralnetworks_utils_hal_1_1",
-        "neuralnetworks_utils_hal_1_2",
-    ],
-    shared_libs: [
         "android.hardware.neuralnetworks@1.0",
         "android.hardware.neuralnetworks@1.1",
         "android.hardware.neuralnetworks@1.2",
         "android.hardware.neuralnetworks@1.3",
         "libfmq",
-    ],
-    export_static_lib_headers: [
+        "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
+        "neuralnetworks_utils_hal_1_0",
+        "neuralnetworks_utils_hal_1_1",
+        "neuralnetworks_utils_hal_1_2",
     ],
     target: {
         host: {
@@ -69,7 +64,6 @@
         "android.hardware.neuralnetworks@1.2",
         "android.hardware.neuralnetworks@1.3",
         "libgmock",
-        "libneuralnetworks_common",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
         "neuralnetworks_utils_hal_1_0",
@@ -78,13 +72,10 @@
         "neuralnetworks_utils_hal_1_3",
     ],
     shared_libs: [
-        "android.hidl.allocator@1.0",
-        "android.hidl.memory@1.0",
         "libbase",
         "libcutils",
         "libfmq",
         "libhidlbase",
-        "libhidlmemory",
         "liblog",
         "libutils",
     ],
diff --git a/neuralnetworks/aidl/utils/Android.bp b/neuralnetworks/aidl/utils/Android.bp
index 3faa613..9148eac 100644
--- a/neuralnetworks/aidl/utils/Android.bp
+++ b/neuralnetworks/aidl/utils/Android.bp
@@ -111,19 +111,13 @@
     static_libs: [
         "libaidlcommonsupport",
         "libgmock",
-        "libneuralnetworks_common",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
     ],
     shared_libs: [
-        "android.hidl.allocator@1.0",
         "libbase",
         "libbinder_ndk",
         "libcutils",
-        "libhidlbase",
-        "libhidlmemory",
-        "liblog",
-        "libutils",
     ],
     target: {
         android: {
diff --git a/neuralnetworks/aidl/utils/test/MockBuffer.h b/neuralnetworks/aidl/utils/test/MockBuffer.h
index f77fa86..7a05a0f 100644
--- a/neuralnetworks/aidl/utils/test/MockBuffer.h
+++ b/neuralnetworks/aidl/utils/test/MockBuffer.h
@@ -21,7 +21,6 @@
 #include <android/binder_interface_utils.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <hidl/Status.h>
 
 namespace aidl::android::hardware::neuralnetworks::utils {
 
diff --git a/neuralnetworks/aidl/utils/test/MockBurst.h b/neuralnetworks/aidl/utils/test/MockBurst.h
index 4cf60b6..609bd30 100644
--- a/neuralnetworks/aidl/utils/test/MockBurst.h
+++ b/neuralnetworks/aidl/utils/test/MockBurst.h
@@ -21,7 +21,6 @@
 #include <android/binder_interface_utils.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <hidl/Status.h>
 
 namespace aidl::android::hardware::neuralnetworks::utils {
 
diff --git a/neuralnetworks/aidl/utils/test/MockExecution.h b/neuralnetworks/aidl/utils/test/MockExecution.h
index 216f569..782e54f 100644
--- a/neuralnetworks/aidl/utils/test/MockExecution.h
+++ b/neuralnetworks/aidl/utils/test/MockExecution.h
@@ -21,8 +21,6 @@
 #include <android/binder_interface_utils.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <hidl/HidlSupport.h>
-#include <hidl/Status.h>
 
 namespace aidl::android::hardware::neuralnetworks::utils {
 
diff --git a/neuralnetworks/aidl/utils/test/MockFencedExecutionCallback.h b/neuralnetworks/aidl/utils/test/MockFencedExecutionCallback.h
index 06f9ea2..29449bb 100644
--- a/neuralnetworks/aidl/utils/test/MockFencedExecutionCallback.h
+++ b/neuralnetworks/aidl/utils/test/MockFencedExecutionCallback.h
@@ -22,7 +22,6 @@
 #include <android/binder_interface_utils.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <hidl/Status.h>
 
 namespace aidl::android::hardware::neuralnetworks::utils {
 
diff --git a/neuralnetworks/aidl/utils/test/MockPreparedModel.h b/neuralnetworks/aidl/utils/test/MockPreparedModel.h
index 318acc2..a5b3b66 100644
--- a/neuralnetworks/aidl/utils/test/MockPreparedModel.h
+++ b/neuralnetworks/aidl/utils/test/MockPreparedModel.h
@@ -22,8 +22,6 @@
 #include <android/binder_interface_utils.h>
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <hidl/HidlSupport.h>
-#include <hidl/Status.h>
 
 namespace aidl::android::hardware::neuralnetworks::utils {
 
diff --git a/neuralnetworks/utils/adapter/hidl/Android.bp b/neuralnetworks/utils/adapter/hidl/Android.bp
index d073106..6875daa 100644
--- a/neuralnetworks/utils/adapter/hidl/Android.bp
+++ b/neuralnetworks/utils/adapter/hidl/Android.bp
@@ -30,17 +30,16 @@
     local_include_dirs: ["include/nnapi/hal"],
     export_include_dirs: ["include"],
     static_libs: [
-        "neuralnetworks_types",
-        "neuralnetworks_utils_hal_1_0",
-        "neuralnetworks_utils_hal_1_1",
-        "neuralnetworks_utils_hal_1_2",
-        "neuralnetworks_utils_hal_1_3",
-    ],
-    shared_libs: [
         "android.hardware.neuralnetworks@1.0",
         "android.hardware.neuralnetworks@1.1",
         "android.hardware.neuralnetworks@1.2",
         "android.hardware.neuralnetworks@1.3",
         "libfmq",
+        "neuralnetworks_types",
+        "neuralnetworks_utils_hal_1_0",
+        "neuralnetworks_utils_hal_1_1",
+        "neuralnetworks_utils_hal_1_2",
+        "neuralnetworks_utils_hal_1_3",
+        "neuralnetworks_utils_hal_common",
     ],
 }
diff --git a/neuralnetworks/utils/common/Android.bp b/neuralnetworks/utils/common/Android.bp
index 39927a3..bfba24f 100644
--- a/neuralnetworks/utils/common/Android.bp
+++ b/neuralnetworks/utils/common/Android.bp
@@ -39,20 +39,12 @@
     srcs: ["test/*.cpp"],
     static_libs: [
         "libgmock",
-        "libneuralnetworks_common",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_common",
     ],
     shared_libs: [
-        "android.hidl.allocator@1.0",
-        "android.hidl.memory@1.0",
         "libbase",
         "libcutils",
-        "libfmq",
-        "libhidlbase",
-        "libhidlmemory",
-        "liblog",
-        "libutils",
     ],
     target: {
         android: {
diff --git a/neuralnetworks/utils/service/Android.bp b/neuralnetworks/utils/service/Android.bp
index c3272ae..452078b 100644
--- a/neuralnetworks/utils/service/Android.bp
+++ b/neuralnetworks/utils/service/Android.bp
@@ -33,6 +33,10 @@
     local_include_dirs: ["include/nnapi/hal"],
     export_include_dirs: ["include"],
     static_libs: [
+        "android.hardware.neuralnetworks@1.0",
+        "android.hardware.neuralnetworks@1.1",
+        "android.hardware.neuralnetworks@1.2",
+        "android.hardware.neuralnetworks@1.3",
         "neuralnetworks_types",
         "neuralnetworks_utils_hal_1_0",
         "neuralnetworks_utils_hal_1_1",
@@ -40,10 +44,4 @@
         "neuralnetworks_utils_hal_1_3",
         "neuralnetworks_utils_hal_common",
     ],
-    shared_libs: [
-        "android.hardware.neuralnetworks@1.0",
-        "android.hardware.neuralnetworks@1.1",
-        "android.hardware.neuralnetworks@1.2",
-        "android.hardware.neuralnetworks@1.3",
-    ],
 }
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..4f49002 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 +52,9 @@
     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;
+    android.hardware.sensors.Event.EventPayload.Heading heading;
     @FixedSize @VintfStability
     parcelable Vec4 {
       float x;
@@ -86,11 +89,37 @@
       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;
     }
     @FixedSize @VintfStability
+    parcelable Heading {
+      float heading;
+      float accuracy;
+    }
+    @FixedSize @VintfStability
     parcelable MetaData {
       android.hardware.sensors.Event.EventPayload.MetaData.MetaDataEventType what;
       @Backing(type="int") @VintfStability
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..8c864e9 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 +71,10 @@
   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,
+  HEADING = 42,
   DEVICE_PRIVATE_BASE = 65536,
 }
diff --git a/sensors/aidl/android/hardware/sensors/Event.aidl b/sensors/aidl/android/hardware/sensors/Event.aidl
index fd6a8cc..e8550f1 100644
--- a/sensors/aidl/android/hardware/sensors/Event.aidl
+++ b/sensors/aidl/android/hardware/sensors/Event.aidl
@@ -132,6 +132,23 @@
          */
         HeadTracker headTracker;
 
+        /**
+         * SensorType::ACCELEROMETER_LIMITED_AXES
+         * SensorType::GYROSCOPE_LIMITED_AXES
+         */
+        LimitedAxesImu limitedAxesImu;
+
+        /**
+         * SensorType::ACCELEROMETER_LIMITED_AXES_UNCALIBRATED
+         * SensorType::GYROSCOPE_LIMITED_AXES_UNCALIBRATED
+         */
+        LimitedAxesImuUncal limitedAxesImuUncal;
+
+        /**
+         * SensorType::HEADING
+         */
+        Heading heading;
+
         @FixedSize
         @VintfStability
         parcelable Vec4 {
@@ -201,6 +218,70 @@
             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 {
@@ -218,6 +299,27 @@
 
         @FixedSize
         @VintfStability
+        parcelable Heading {
+            /**
+             * The direction in which the device is pointing relative to true
+             * north in degrees. The value must be between 0.0 (inclusive) and
+             * 360.0 (exclusive), with 0 indicating north, 90 east, 180 south,
+             * and 270 west.
+             */
+            float heading;
+            /**
+             * Accuracy is defined at 68% confidence. In the case where the
+             * underlying distribution is assumed Gaussian normal, this would be
+             * considered one standard deviation. For example, if the heading
+             * returns 60 degrees, and accuracy returns 10 degrees, then there
+             * is a 68 percent probability of the true heading being between 50
+             * degrees and 70 degrees.
+             */
+            float accuracy;
+        }
+
+        @FixedSize
+        @VintfStability
         parcelable MetaData {
             MetaDataEventType what;
 
diff --git a/sensors/aidl/android/hardware/sensors/SensorType.aidl b/sensors/aidl/android/hardware/sensors/SensorType.aidl
index 01e6bee..9098894 100644
--- a/sensors/aidl/android/hardware/sensors/SensorType.aidl
+++ b/sensors/aidl/android/hardware/sensors/SensorType.aidl
@@ -667,6 +667,57 @@
     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,
+
+    /**
+     * HEADING
+     * reporting-mode: continuous
+     *
+     * A sensor of this type measures the direction in which the device is
+     * pointing relative to true north in degrees.
+     *
+     * This sensor was added for automotive form factors. Other devices with a
+     * clear forward direction might find it useful as well. However, devices
+     * with a more ambiguous orientation such as phones or wearables might want
+     * to consider using other sensors such as Sensor.TYPE_ROTATION_VECTOR
+     * which might be more suitable.
+     */
+    HEADING = 42,
+
+    /**
      * Base for device manufacturers private sensor types.
      * These sensor types can't be exposed in the SDK.
      */