diff --git a/private/domain.te b/private/domain.te
index aa43058..fb6ba4f 100644
--- a/private/domain.te
+++ b/private/domain.te
@@ -9,6 +9,7 @@
   domain
   -vold
   -dumpstate
+  userdebug_or_eng(`-incidentd')
   -storaged
   -system_server
   userdebug_or_eng(`-perfprofd')
diff --git a/private/incidentd.te b/private/incidentd.te
index 22ff985..6b248f1 100644
--- a/private/incidentd.te
+++ b/private/incidentd.te
@@ -46,32 +46,47 @@
 allow incidentd incident_data_file:dir rw_dir_perms;
 allow incidentd incident_data_file:file create_file_perms;
 
-# Get process attributes
-# TODO allow incidentd domain:process getattr;
+# Enable incidentd to get stack traces.
+binder_use(incidentd)
+hwbinder_use(incidentd)
+allow incidentd hwservicemanager:hwservice_manager { list };
+get_prop(incidentd, hwservicemanager_prop)
+allow incidentd hidl_manager_hwservice:hwservice_manager { find };
 
 # Read files in /proc
 allow incidentd {
+  proc_cmdline
+  proc_pipe_conf
   proc_stat
 }:file r_file_perms;
 
 # Signal java processes to dump their stack and get the results
-# TODO allow incidentd { appdomain ephemeral_app system_server }:process signal;
-# TODO allow incidentd anr_data_file:dir create_dir_perms;
-# TODO allow incidentd anr_data_file:file create_file_perms;
+allow incidentd { appdomain ephemeral_app system_server }:process signal;
 
 # Signal native processes to dump their stack.
 # This list comes from native_processes_to_dump in incidentd/utils.c
 allow incidentd {
+  # This list comes from native_processes_to_dump in dumputils/dump_utils.cpp
   audioserver
   cameraserver
   drmserver
   inputflinger
-  mediacodec
   mediadrmserver
   mediaextractor
+  mediametrics
   mediaserver
   sdcardd
+  statsd
   surfaceflinger
+
+  # This list comes from hal_interfaces_to_dump in dumputils/dump_utils.cpp
+  hal_audio_server
+  hal_bluetooth_server
+  hal_camera_server
+  hal_graphics_composer_server
+  hal_sensors_server
+  hal_vr_server
+  mediacodec # TODO(b/36375899): hal_omx_server
 }:process signal;
 
 # Allow incidentd to make binder calls to any binder service
@@ -79,7 +94,18 @@
 binder_call(incidentd, appdomain)
 
 # Reading /proc/PID/maps of other processes
-# TODO allow incidentd self:global_capability_class_set sys_ptrace;
+userdebug_or_eng(`allow incidentd self:global_capability_class_set { sys_ptrace }');
+# incidentd has capability sys_ptrace, but should only use that capability for
+# accessing sensitive /proc/PID files, never for using ptrace attach.
+neverallow incidentd *:process ptrace;
+
+allow incidentd self:global_capability_class_set {
+    # Send signals to processes
+    kill
+};
+
+# Connect to tombstoned to intercept dumps.
+unix_socket_connect(incidentd, tombstoned_intercept, tombstoned)
 
 # Run a shell.
 allow incidentd shell_exec:file rx_file_perms;
diff --git a/private/system_server.te b/private/system_server.te
index ee57867..e9cf303 100644
--- a/private/system_server.te
+++ b/private/system_server.te
@@ -366,10 +366,11 @@
 #
 # Allow system_server to connect and write to the tombstoned java trace socket in
 # order to dump its traces. Also allow the system server to write its traces to
-# dumpstate during bugreport capture.
+# dumpstate during bugreport capture and incidentd during incident collection.
 unix_socket_connect(system_server, tombstoned_java_trace, tombstoned)
 allow system_server tombstoned:fd use;
 allow system_server dumpstate:fifo_file append;
+allow system_server incidentd:fifo_file append;
 
 # Read /data/misc/incidents - only read. The fd will be sent over binder,
 # with no DAC access to it, for dropbox to read.