diff --git a/bluetooth/1.0/vts/functional/VtsHalBluetoothV1_0TargetTest.cpp b/bluetooth/1.0/vts/functional/VtsHalBluetoothV1_0TargetTest.cpp
index bf8b547..439c5fb 100644
--- a/bluetooth/1.0/vts/functional/VtsHalBluetoothV1_0TargetTest.cpp
+++ b/bluetooth/1.0/vts/functional/VtsHalBluetoothV1_0TargetTest.cpp
@@ -170,8 +170,9 @@
     acl_cb_count = 0;
     sco_cb_count = 0;
 
-    ASSERT_EQ(initialized, false);
-    bluetooth->initialize(bluetooth_cb);
+    ASSERT_FALSE(initialized);
+    // Should not be checked in production code
+    ASSERT_TRUE(bluetooth->initialize(bluetooth_cb).isOk());
 
     bluetooth_cb->SetWaitTimeout(kCallbackNameInitializationComplete,
                                  WAIT_FOR_INIT_TIMEOUT);
@@ -186,15 +187,16 @@
         bluetooth_cb->WaitForCallback(kCallbackNameInitializationComplete)
             .no_timeout);
 
-    ASSERT_EQ(initialized, true);
+    ASSERT_TRUE(initialized);
   }
 
   virtual void TearDown() override {
-    bluetooth->close();
-    handle_no_ops();
-    EXPECT_EQ(static_cast<size_t>(0), event_queue.size());
-    EXPECT_EQ(static_cast<size_t>(0), sco_queue.size());
-    EXPECT_EQ(static_cast<size_t>(0), acl_queue.size());
+      // Should not be checked in production code
+      ASSERT_TRUE(bluetooth->close().isOk());
+      handle_no_ops();
+      EXPECT_EQ(static_cast<size_t>(0), event_queue.size());
+      EXPECT_EQ(static_cast<size_t>(0), sco_queue.size());
+      EXPECT_EQ(static_cast<size_t>(0), acl_queue.size());
   }
 
   void setBufferSizes();
diff --git a/current.txt b/current.txt
index 327833f..b1a651f 100644
--- a/current.txt
+++ b/current.txt
@@ -386,6 +386,7 @@
 
 # ABI preserving changes to HALs during Android Q
 da33234403ff5d60f3473711917b9948e6484a4260b5247acdafb111193a9de2 android.hardware.configstore@1.0::ISurfaceFlingerConfigs
+78886339f2c848cf13c1edd3ebba63f89796b2620d3bf3b5c21d038a53519ba0 android.hardware.gnss@1.0::IGnssMeasurementCallback
 b7ecf29927055ec422ec44bf776223f07d79ad9f92ccf9becf167e62c2607e7a android.hardware.keymaster@4.0::IKeymasterDevice
 574e8f1499436fb4075894dcae0b36682427956ecb114f17f1fe22d116a83c6b android.hardware.neuralnetworks@1.0::IPreparedModel
 1fb32361286b938d48a55c2539c846732afce0b99fe08590f556643125bc13d3 android.hardware.neuralnetworks@1.0::types
diff --git a/gnss/1.0/IGnssMeasurementCallback.hal b/gnss/1.0/IGnssMeasurementCallback.hal
index b27c2e0..d3489e6 100644
--- a/gnss/1.0/IGnssMeasurementCallback.hal
+++ b/gnss/1.0/IGnssMeasurementCallback.hal
@@ -124,6 +124,12 @@
         /**
          * A set of flags indicating the validity of the fields in this data
          * structure.
+         *
+         * Fields for which there is no corresponding flag must be filled in
+         * with a valid value.  For convenience, these are marked as mandatory.
+         *
+         * Others fields may have invalid information in them, if not marked as
+         * valid by the corresponding bit in gnssClockFlags.
          */
         bitfield<GnssClockFlags> gnssClockFlags;
 
@@ -155,7 +161,7 @@
          * Sub-nanosecond accuracy can be provided by means of the 'biasNs' field.
          * The value contains the timeUncertaintyNs in it.
          *
-         * This field is mandatory.
+         * This value is mandatory.
          */
         int64_t timeNs;
 
@@ -172,29 +178,31 @@
 
         /**
          * The difference between hardware clock ('time' field) inside GNSS receiver
-         * and the true GNSS time since 0000Z, January 6, 1980, in nanoseconds.
+         * and the true GPS time since 0000Z, January 6, 1980, in nanoseconds.
          *
          * The sign of the value is defined by the following equation:
-         *      local estimate of GNSS time = timeNs - (fullBiasNs + biasNs)
+         *      local estimate of GPS time = timeNs - (fullBiasNs + biasNs)
          *
-         * This value is mandatory if the receiver has estimated GNSS time. If the
-         * computed time is for a non-GNSS constellation, the time offset of that
-         * constellation to GNSS has to be applied to fill this value. The error
-         * estimate for the sum of this and the biasNs is the biasUncertaintyNs,
-         * and the caller is responsible for using this uncertainty (it can be very
-         * large before the GNSS time has been solved for.) If the data is available
-         * gnssClockFlags must contain HAS_FULL_BIAS.
+         * If receiver has computed time for a non-GPS constellation, the time offset of
+         * that constellation versus GPS time must be applied to fill this value.
+         *
+         * The error estimate for the sum of this and the biasNs is the biasUncertaintyNs.
+         *
+         * If the data is available gnssClockFlags must contain HAS_FULL_BIAS.
+         *
+         * This value is mandatory if the receiver has estimated GPS time.
          */
         int64_t fullBiasNs;
 
         /**
-         * Sub-nanosecond bias.
+         * Sub-nanosecond bias - used with fullBiasNS, see fullBiasNs for details.
+         *
          * The error estimate for the sum of this and the fullBiasNs is the
          * biasUncertaintyNs.
          *
-         * If the data is available gnssClockFlags must contain HAS_BIAS. If GNSS
-         * has computed a position fix. This value is mandatory if the receiver has
-         * estimated GNSS time.
+         * If the data is available gnssClockFlags must contain HAS_BIAS.
+         *
+         * This value is mandatory if the receiver has estimated GPS time.
          */
         double biasNs;
 
@@ -203,9 +211,12 @@
          * bias) in nanoseconds. The uncertainty is represented as an absolute
          * (single sided) value.
          *
-         * If the data is available gnssClockFlags must contain
-         * HAS_BIAS_UNCERTAINTY. This value is mandatory if the receiver
-         * has estimated GNSS time.
+         * The caller is responsible for using this uncertainty (it can be very
+         * large before the GPS time has been fully resolved.)
+         *
+         * If the data is available gnssClockFlags must contain HAS_BIAS_UNCERTAINTY.
+         *
+         * This value is mandatory if the receiver has estimated GPS time.
          */
         double biasUncertaintyNs;
 
@@ -216,10 +227,9 @@
          * frequency, and that the (fullBiasNs + biasNs) is growing more positive
          * over time.
          *
-         * The value contains the 'drift uncertainty' in it.
          * If the data is available gnssClockFlags must contain HAS_DRIFT.
          *
-         * This value is mandatory if the receiver has estimated GNSS time.
+         * This value is mandatory if the receiver has estimated GPS time.
          */
         double driftNsps;
 
@@ -228,15 +238,15 @@
          * second).
          * The uncertainty is represented as an absolute (single sided) value.
          *
-         * If the data is available gnssClockFlags must contain
-         * HAS_DRIFT_UNCERTAINTY. If GNSS has computed a position fix this
-         * field is mandatory and must be populated.
+         * If the data is available gnssClockFlags must contain HAS_DRIFT_UNCERTAINTY.
+         *
+         * This value is mandatory if the receiver has estimated GPS time.
          */
         double driftUncertaintyNsps;
 
         /**
-         * When there are any discontinuities in the HW clock, this field is
-         * mandatory.
+         * This field must be incremented, when there are discontinuities in the
+         * hardware clock.
          *
          * A "discontinuity" is meant to cover the case of a switch from one source
          * of clock to another.  A single free-running crystal oscillator (XO)
@@ -262,6 +272,8 @@
          * as this avoids the need to use (waste) a GNSS measurement to fully
          * re-solve for the GNSS clock bias and drift, when using the accompanying
          * measurements, from consecutive GnssData reports.
+         *
+         * This value is mandatory.
          */
         uint32_t hwClockDiscontinuityCount;
 
@@ -280,17 +292,26 @@
         /**
          * A set of flags indicating the validity of the fields in this data
          * structure.
+         *
+         * Fields for which there is no corresponding flag must be filled in
+         * with a valid value.  For convenience, these are marked as mandatory.
+         *
+         * Others fields may have invalid information in them, if not marked as
+         * valid by the corresponding bit in flags.
          */
         bitfield<GnssMeasurementFlags> flags;
 
         /**
          * Satellite vehicle ID number, as defined in GnssSvInfo::svid
-         * This is a mandatory value.
+         *
+         * This value is mandatory.
          */
         int16_t svid;
 
         /**
          * Defines the constellation of the given SV.
+         *
+         * This value is mandatory.
          */
         GnssConstellationType constellation;
 
@@ -302,8 +323,10 @@
          *      measurement time = GnssClock::timeNs + timeOffsetNs
          *
          * It provides an individual time-stamp for the measurement, and allows
-         * sub-nanosecond accuracy.
-         * This is a mandatory value.
+         * sub-nanosecond accuracy. It may be zero if all measurements are
+         * aligned to a common time.
+         *
+         * This value is mandatory.
          */
         double timeOffsetNs;
 
@@ -313,7 +336,7 @@
          * Based on the sync state, the 'received GNSS tow' field must be interpreted
          * accordingly.
          *
-         * This is a mandatory value.
+         * This value is mandatory.
          */
         bitfield<GnssMeasurementState> state;
 
@@ -413,7 +436,7 @@
          * Carrier-to-noise density in dB-Hz, typically in the range [0, 63].
          * It contains the measured C/N0 value for the signal at the antenna port.
          *
-         * This is a mandatory value.
+         * This value is mandatory.
          */
         double cN0DbHz;
 
@@ -449,7 +472,7 @@
          * 1-Sigma uncertainty of the pseudorangeRateMps.
          * The uncertainty is represented as an absolute (single sided) value.
          *
-         * This is a mandatory value.
+         * This value is mandatory.
          */
         double pseudorangeRateUncertaintyMps;
 
@@ -457,7 +480,7 @@
          * Accumulated delta range's state. It indicates whether ADR is reset or
          * there is a cycle slip(indicating loss of lock).
          *
-         * This is a mandatory value.
+         * This value is mandatory.
          */
         bitfield<GnssAccumulatedDeltaRangeState> accumulatedDeltaRangeState;
 
diff --git a/tests/bar/1.0/default/Bar.cpp b/tests/bar/1.0/default/Bar.cpp
index 4614428..0a57b40 100644
--- a/tests/bar/1.0/default/Bar.cpp
+++ b/tests/bar/1.0/default/Bar.cpp
@@ -149,6 +149,10 @@
     return mFoo->closeHandles();
 }
 
+Return<void> Bar::repeatWithFmq(const IFoo::WithFmq& withFmq, repeatWithFmq_cb _hidl_cb) {
+    return mFoo->repeatWithFmq(withFmq, _hidl_cb);
+}
+
 Return<void> Bar::echoNullInterface(const sp<IFooCallback> &cb, echoNullInterface_cb _hidl_cb) {
     return mFoo->echoNullInterface(cb, _hidl_cb);
 }
diff --git a/tests/bar/1.0/default/Bar.h b/tests/bar/1.0/default/Bar.h
index acb976f..4372266 100644
--- a/tests/bar/1.0/default/Bar.h
+++ b/tests/bar/1.0/default/Bar.h
@@ -56,6 +56,8 @@
     virtual Return<void> createMyHandle(createMyHandle_cb _hidl_cb)  override;
     virtual Return<void> createHandles(uint32_t size, createHandles_cb _hidl_cb)  override;
     virtual Return<void> closeHandles()  override;
+    virtual Return<void> repeatWithFmq(const IFoo::WithFmq& withFmq,
+                                       repeatWithFmq_cb _hidl_cb) override;
 
     Return<void> haveAVectorOfInterfaces(
             const hidl_vec<sp<ISimple> > &in,
diff --git a/tests/baz/1.0/IBaz.hal b/tests/baz/1.0/IBaz.hal
index 8118d8b..91ed1f2 100644
--- a/tests/baz/1.0/IBaz.hal
+++ b/tests/baz/1.0/IBaz.hal
@@ -36,6 +36,17 @@
     typedef SomeOtherEnum thisIsAnAlias;
     typedef IBaz anIBazByAnyOtherName;
 
+    struct NastyNester {
+        struct NestersNasty {
+            struct NestersNastyNester {
+                IBaz baz;
+                vec<NestersNasty> nasties;
+            };
+        };
+
+        IBaz baz;
+    };
+
     enum SomeEnum : SomeOtherEnum {
         quux = 33,
         goober = 192,
diff --git a/tests/foo/1.0/IFoo.hal b/tests/foo/1.0/IFoo.hal
index 9642e2a..f54994f 100644
--- a/tests/foo/1.0/IFoo.hal
+++ b/tests/foo/1.0/IFoo.hal
@@ -121,6 +121,10 @@
         bitfield<BitField> bf;
     };
 
+    struct WithFmq {
+        fmq_sync<uint8_t> descSync;
+    };
+
     enum Discriminator : uint8_t {
         BOOL,
         INT,
@@ -204,4 +208,6 @@
     createMyHandle() generates (MyHandle h);
     createHandles(uint32_t size) generates (vec<handle> handles);
     closeHandles();
+
+    repeatWithFmq(WithFmq withFmq) generates (WithFmq withFmq);
 };
diff --git a/tests/foo/1.0/default/Foo.cpp b/tests/foo/1.0/default/Foo.cpp
index a31ab9f..461568b 100644
--- a/tests/foo/1.0/default/Foo.cpp
+++ b/tests/foo/1.0/default/Foo.cpp
@@ -379,6 +379,11 @@
     return Void();
 }
 
+Return<void> Foo::repeatWithFmq(const IFoo::WithFmq& withFmq, repeatWithFmq_cb _hidl_cb) {
+    _hidl_cb(withFmq);
+    return Void();
+}
+
 IFoo* HIDL_FETCH_IFoo(const char* /* name */) {
     return new Foo();
 }
diff --git a/tests/foo/1.0/default/Foo.h b/tests/foo/1.0/default/Foo.h
index 7dd672b..d73179a 100644
--- a/tests/foo/1.0/default/Foo.h
+++ b/tests/foo/1.0/default/Foo.h
@@ -53,6 +53,8 @@
     virtual Return<void> createMyHandle(createMyHandle_cb _hidl_cb)  override;
     virtual Return<void> createHandles(uint32_t size, createHandles_cb _hidl_cb)  override;
     virtual Return<void> closeHandles()  override;
+    virtual Return<void> repeatWithFmq(const IFoo::WithFmq& withFmq,
+                                       repeatWithFmq_cb _hidl_cb) override;
 
     Return<void> haveAVectorOfInterfaces(
             const hidl_vec<sp<ISimple> > &in,
@@ -63,6 +65,7 @@
             haveAVectorOfGenericInterfaces_cb _hidl_cb) override;
 
     Return<void> echoNullInterface(const sp<IFooCallback> &cb, echoNullInterface_cb _hidl_cb) override;
+
 private:
     std::vector<::native_handle_t *> mHandles;
 };