diff --git a/cmds/bugreportz/Android.mk b/cmds/bugreportz/Android.mk
index 880bc75..10dda56 100644
--- a/cmds/bugreportz/Android.mk
+++ b/cmds/bugreportz/Android.mk
@@ -25,6 +25,7 @@
 include $(CLEAR_VARS)
 
 LOCAL_MODULE := bugreportz_test
+LOCAL_COMPATIBILITY_SUITE := device-tests
 LOCAL_MODULE_TAGS := tests
 
 LOCAL_CFLAGS := -Werror -Wall
diff --git a/cmds/bugreportz/AndroidTest.xml b/cmds/bugreportz/AndroidTest.xml
new file mode 100644
index 0000000..38b6276
--- /dev/null
+++ b/cmds/bugreportz/AndroidTest.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+<configuration description="Config for bugreportz_test">
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push" value="bugreportz_test->/data/local/tmp/bugreportz_test" />
+    </target_preparer>
+    <option name="test-suite-tag" value="apct" />
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="bugreportz_test" />
+    </test>
+</configuration>
diff --git a/cmds/dumpstate/Android.mk b/cmds/dumpstate/Android.mk
index a407ea2..669e8d2 100644
--- a/cmds/dumpstate/Android.mk
+++ b/cmds/dumpstate/Android.mk
@@ -138,7 +138,7 @@
 include $(CLEAR_VARS)
 
 LOCAL_MODULE := dumpstate_test_fixture
-
+LOCAL_COMPATIBILITY_SUITE := device-tests
 LOCAL_MODULE_TAGS := tests
 
 LOCAL_CFLAGS := $(COMMON_LOCAL_CFLAGS)
diff --git a/cmds/dumpstate/AndroidTest.xml b/cmds/dumpstate/AndroidTest.xml
new file mode 100644
index 0000000..f189489
--- /dev/null
+++ b/cmds/dumpstate/AndroidTest.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+<configuration description="Config for dumpstate_test_fixture">
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push" value="dumpstate_test_fixture->/data/local/tmp/dumpstate_test_fixture" />
+    </target_preparer>
+    <option name="test-suite-tag" value="apct" />
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="dumpstate_test_fixture" />
+    </test>
+</configuration>
diff --git a/cmds/servicemanager/Android.bp b/cmds/servicemanager/Android.bp
index 39d92a7..caf9287 100644
--- a/cmds/servicemanager/Android.bp
+++ b/cmds/servicemanager/Android.bp
@@ -47,6 +47,6 @@
         "-DVENDORSERVICEMANAGER=1",
     ],
     shared_libs: ["libcutils"],
-    static_libs: ["libselinux"],
+    static_libs: ["libselinux_vendor"],
     init_rc: ["vndservicemanager.rc"],
 }
diff --git a/cmds/surfacereplayer/Android.bp b/cmds/surfacereplayer/Android.bp
new file mode 100644
index 0000000..d4c037a
--- /dev/null
+++ b/cmds/surfacereplayer/Android.bp
@@ -0,0 +1,4 @@
+subdirs = [
+    "proto",
+    "replayer",
+]
\ No newline at end of file
diff --git a/cmds/surfacereplayer/proto/Android.bp b/cmds/surfacereplayer/proto/Android.bp
new file mode 100644
index 0000000..dda80bb
--- /dev/null
+++ b/cmds/surfacereplayer/proto/Android.bp
@@ -0,0 +1,10 @@
+cc_library_static {
+    name: "libtrace_proto",
+    srcs: [
+        "src/trace.proto",
+    ],
+    proto: {
+        type: "lite",
+        export_proto_headers: true,
+    },
+}
diff --git a/cmds/surfacereplayer/proto/Android.mk b/cmds/surfacereplayer/proto/Android.mk
deleted file mode 100644
index 3cf1148..0000000
--- a/cmds/surfacereplayer/proto/Android.mk
+++ /dev/null
@@ -1,28 +0,0 @@
-#
-# Copyright (C) 2016 The Android Open Source Project
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-#
-LOCAL_PATH:= $(call my-dir)
-include $(CLEAR_VARS)
-
-LOCAL_SRC_FILES := $(call all-proto-files-under, src)
-
-LOCAL_PROTOC_OPTIMIZE_TYPE := lite
-
-LOCAL_MODULE := libtrace_proto
-LOCAL_MODULE_CLASS := STATIC_LIBRARIES
-
-LOCAL_EXPORT_C_INCLUDE_DIRS := $(LOCAL_PATH)
-
-include $(BUILD_STATIC_LIBRARY)
diff --git a/cmds/surfacereplayer/replayer/Android.bp b/cmds/surfacereplayer/replayer/Android.bp
new file mode 100644
index 0000000..5caceec
--- /dev/null
+++ b/cmds/surfacereplayer/replayer/Android.bp
@@ -0,0 +1,66 @@
+cc_library_shared {
+    name: "libsurfacereplayer",
+    clang: true,
+    srcs: [
+        "BufferQueueScheduler.cpp",
+        "Event.cpp",
+        "Replayer.cpp",
+    ],
+    cppflags: [
+        "-Werror",
+        "-Wno-unused-parameter",
+        "-Wno-format",
+	"-Wno-c++98-compat-pedantic",
+	"-Wno-float-conversion",
+	"-Wno-disabled-macro-expansion",
+	"-Wno-float-equal",
+	"-Wno-sign-conversion",
+	"-Wno-padded",
+	"-std=c++14",
+    ],
+    static_libs: [
+        "libtrace_proto",
+    ],
+    shared_libs: [
+        "libEGL",
+        "libGLESv2",
+        "libbinder",
+        "liblog",
+        "libcutils",
+        "libgui",
+        "libui",
+        "libutils",
+        "libprotobuf-cpp-lite",
+        "libbase",
+        "libnativewindow",
+    ],
+    export_include_dirs: [
+        ".",
+    ],
+}
+
+cc_binary {
+    name: "surfacereplayer",
+    clang: true,
+    srcs: [
+        "Main.cpp",
+    ],
+    shared_libs: [
+        "libprotobuf-cpp-lite",
+        "libsurfacereplayer",
+        "libutils",
+        "libgui",
+    ],
+    static_libs: [
+        "libtrace_proto",
+    ],
+    cppflags: [
+        "-Werror",
+        "-Wno-unused-parameter",
+	"-Wno-c++98-compat-pedantic",
+	"-Wno-float-conversion",
+	"-Wno-disabled-macro-expansion",
+	"-Wno-float-equal",
+	"-std=c++14",
+    ],
+}
diff --git a/cmds/surfacereplayer/replayer/Android.mk b/cmds/surfacereplayer/replayer/Android.mk
deleted file mode 100644
index 1dd926c..0000000
--- a/cmds/surfacereplayer/replayer/Android.mk
+++ /dev/null
@@ -1,75 +0,0 @@
-# Copyright 2016 The Android Open Source Project
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#      http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-LOCAL_TARGET_DIR := $(TARGET_OUT_DATA)/local/tmp
-
-LOCAL_PATH:= $(call my-dir)
-
-include $(call first-makefiles-under, /frameworks/native/cmds/surfacereplayer/proto)
-
-include $(CLEAR_VARS)
-
-LOCAL_CPPFLAGS := -Weverything -Werror
-LOCAL_CPPFLAGS := -Wno-unused-parameter
-LOCAL_CPPFLAGS := -Wno-format
-
-LOCAL_MODULE := libsurfacereplayer
-
-LOCAL_SRC_FILES := \
-    BufferQueueScheduler.cpp \
-    Event.cpp \
-    Replayer.cpp \
-
-LOCAL_SHARED_LIBRARIES := \
-    libEGL \
-    libGLESv2 \
-    libbinder \
-    liblog \
-    libcutils \
-    libgui \
-    libui \
-    libutils \
-    libprotobuf-cpp-lite \
-    libbase \
-    libnativewindow \
-
-LOCAL_STATIC_LIBRARIES := \
-    libtrace_proto \
-
-LOCAL_EXPORT_C_INCLUDE_DIRS := $(LOCAL_PATH)/..
-
-include $(BUILD_SHARED_LIBRARY)
-
-include $(CLEAR_VARS)
-
-LOCAL_MODULE := surfacereplayer
-
-LOCAL_SRC_FILES := \
-    Main.cpp \
-
-LOCAL_SHARED_LIBRARIES := \
-    libprotobuf-cpp-lite \
-    libsurfacereplayer \
-    libutils \
-    libgui \
-
-LOCAL_STATIC_LIBRARIES := \
-    libtrace_proto \
-
-LOCAL_CPPFLAGS := -Weverything -Werror
-LOCAL_CPPFLAGS := -Wno-unused-parameter
-
-LOCAL_MODULE_PATH := $(LOCAL_TARGET_DIR)
-
-include $(BUILD_EXECUTABLE)
diff --git a/cmds/surfacereplayer/replayer/Main.cpp b/cmds/surfacereplayer/replayer/Main.cpp
index dd1dd7d..7090bdb 100644
--- a/cmds/surfacereplayer/replayer/Main.cpp
+++ b/cmds/surfacereplayer/replayer/Main.cpp
@@ -24,7 +24,7 @@
  * 5. Exit successfully or print error statement
  */
 
-#include <replayer/Replayer.h>
+#include <Replayer.h>
 
 #include <csignal>
 #include <iostream>
diff --git a/cmds/vr/pose/pose.cpp b/cmds/vr/pose/pose.cpp
index 2288a86..faceb67 100644
--- a/cmds/vr/pose/pose.cpp
+++ b/cmds/vr/pose/pose.cpp
@@ -28,7 +28,7 @@
                " px, py, pz as position (0,0,0 if omitted).\n"
             << "  --mode=mode: sets mode to one of normal, head_turn:slow, "
                "head_turn:fast, rotate:slow, rotate:medium, rotate:fast, "
-               "circle_strafe.\n"
+               "circle_strafe, float, motion_sickness.\n"
             << "  --unfreeze: sets the mode to normal.\n"
             << "  --log_controller=[true|false]: starts and stops controller"
                " logs\n"
@@ -150,6 +150,12 @@
   } else if (value == "circle_strafe") {
     *mode = DVR_POSE_MODE_MOCK_CIRCLE_STRAFE;
     return true;
+  } else if (value == "float") {
+    *mode = DVR_POSE_MODE_FLOAT;
+    return true;
+  } else if (value == "motion_sickness") {
+    *mode = DVR_POSE_MODE_MOCK_MOTION_SICKNESS;
+    return true;
   } else {
     return false;
   }
diff --git a/data/etc/android.hardware.radio.xml b/data/etc/android.hardware.radio.xml
new file mode 100644
index 0000000..f718c47
--- /dev/null
+++ b/data/etc/android.hardware.radio.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<!-- This is the standard set of features for a broadcast radio. -->
+<permissions>
+    <feature name="android.hardware.radio" />
+</permissions>
diff --git a/data/etc/android.hardware.telephony.euicc.xml b/data/etc/android.hardware.telephony.euicc.xml
new file mode 100644
index 0000000..167ed6a
--- /dev/null
+++ b/data/etc/android.hardware.telephony.euicc.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<!-- Feature for devices with an eUICC. -->
+<permissions>
+    <feature name="android.hardware.telephony.euicc" />
+</permissions>
diff --git a/libs/vr/libvrsensor/include/dvr/pose_client.h b/libs/vr/libvrsensor/include/dvr/pose_client.h
index ed75f84..6802fa9 100644
--- a/libs/vr/libvrsensor/include/dvr/pose_client.h
+++ b/libs/vr/libvrsensor/include/dvr/pose_client.h
@@ -105,6 +105,8 @@
   DVR_POSE_MODE_MOCK_ROTATE_MEDIUM,
   DVR_POSE_MODE_MOCK_ROTATE_FAST,
   DVR_POSE_MODE_MOCK_CIRCLE_STRAFE,
+  DVR_POSE_MODE_FLOAT,
+  DVR_POSE_MODE_MOCK_MOTION_SICKNESS,
 
   // Always last.
   DVR_POSE_MODE_COUNT,
diff --git a/opengl/include/EGL/eglext.h b/opengl/include/EGL/eglext.h
index d0996f0..e641c51 100644
--- a/opengl/include/EGL/eglext.h
+++ b/opengl/include/EGL/eglext.h
@@ -667,6 +667,16 @@
 #define EGL_GL_COLORSPACE_BT2020_PQ_EXT   0x3340
 #endif /* EGL_EXT_gl_colorspace_bt2020_pq */
 
+#ifndef EGL_EXT_gl_colorspace_display_p3
+#define EGL_EXT_gl_colorspace_display_p3 1
+#define EGL_GL_COLORSPACE_DISPLAY_P3_EXT 0x3363
+#endif /* EGL_EXT_gl_colorspace_display_p3 */
+
+#ifndef EGL_EXT_gl_colorspace_display_p3_linear
+#define EGL_EXT_gl_colorspace_display_p3_linear 1
+#define EGL_GL_COLORSPACE_DISPLAY_P3_LINEAR_EXT 0x3362
+#endif /* EGL_EXT_gl_colorspace_display_p3_linear */
+
 #ifndef EGL_EXT_gl_colorspace_scrgb_linear
 #define EGL_EXT_gl_colorspace_scrgb_linear 1
 #define EGL_GL_COLORSPACE_SCRGB_LINEAR_EXT 0x3350
diff --git a/opengl/libs/EGL/eglApi.cpp b/opengl/libs/EGL/eglApi.cpp
index 9de15d0..f9229ad 100644
--- a/opengl/libs/EGL/eglApi.cpp
+++ b/opengl/libs/EGL/eglApi.cpp
@@ -79,6 +79,7 @@
 extern char const * const gBuiltinExtensionString;
 extern char const * const gExtensionString;
 
+// clang-format off
 char const * const gBuiltinExtensionString =
         "EGL_KHR_get_all_proc_addresses "
         "EGL_ANDROID_presentation_time "
@@ -86,6 +87,9 @@
         "EGL_ANDROID_get_native_client_buffer "
         "EGL_ANDROID_front_buffer_auto_refresh "
         "EGL_ANDROID_get_frame_timestamps "
+        "EGL_EXT_gl_colorspace_scrgb_linear "
+        "EGL_EXT_gl_colorspace_display_p3_linear "
+        "EGL_EXT_gl_colorspace_display_p3 "
         ;
 
 char const * const gExtensionString  =
@@ -123,6 +127,7 @@
         "EGL_IMG_context_priority "
         "EGL_KHR_no_config_context "
         ;
+// clang-format on
 
 // extensions not exposed to applications but used by the ANDROID system
 //      "EGL_ANDROID_blob_cache "               // strongly recommended
@@ -458,6 +463,12 @@
         return HAL_DATASPACE_SRGB_LINEAR;
     } else if (colorspace == EGL_GL_COLORSPACE_SRGB_KHR) {
         return HAL_DATASPACE_SRGB;
+    } else if (colorspace == EGL_GL_COLORSPACE_DISPLAY_P3_EXT) {
+        return HAL_DATASPACE_DISPLAY_P3;
+    } else if (colorspace == EGL_GL_COLORSPACE_DISPLAY_P3_LINEAR_EXT) {
+        return HAL_DATASPACE_DISPLAY_P3_LINEAR;
+    } else if (colorspace == EGL_GL_COLORSPACE_SCRGB_LINEAR_EXT) {
+        return HAL_DATASPACE_V0_SCRGB_LINEAR;
     }
     return dataSpace;
 }
diff --git a/opengl/tools/glgen2/registry/egl.xml b/opengl/tools/glgen2/registry/egl.xml
index af13395..cb49f32 100755
--- a/opengl/tools/glgen2/registry/egl.xml
+++ b/opengl/tools/glgen2/registry/egl.xml
@@ -739,7 +739,10 @@
         <enum value="50000"  name="EGL_METADATA_SCALING_EXT"/>
             <unused start="0x334B" end="0x334F"/>
         <enum value="0x3350" name="EGL_GL_COLORSPACE_SCRGB_LINEAR_EXT"/>
-            <unused start="0x3351" end="0x339F"/>
+            <unused start="0x3351" end="0x3361"/>
+        <enum value="0x3362" name="EGL_GL_COLORSPACE_DISPLAY_P3_LINEAR_EXT"/>
+        <enum value="0x3363" name="EGL_GL_COLORSPACE_DISPLAY_P3_EXT"/>
+            <unused start="0x3364" end="0x339F"/>
     </enums>
 
     <enums namespace="EGL" start="0x33A0" end="0x33AF" vendor="ANGLE" comment="Reserved for Shannon Woods (Bug 13175)">
@@ -1891,6 +1894,16 @@
                 <enum name="EGL_GL_COLORSPACE_SCRGB_LINEAR_EXT"/>
             </require>
         </extension>
+        <extension name="EGL_EXT_gl_colorspace_display_p3_linear" supported="egl">
+            <require>
+                <enum name="EGL_GL_COLORSPACE_DISPLAY_P3_LINEAR_EXT"/>
+            </require>
+        </extension>
+        <extension name="EGL_EXT_gl_colorspace_display_p3" supported="egl">
+            <require>
+                <enum name="EGL_GL_COLORSPACE_DISPLAY_P3_EXT"/>
+            </require>
+        </extension>
         <extension name="EGL_EXT_image_dma_buf_import" supported="egl">
             <require>
                 <enum name="EGL_LINUX_DMA_BUF_EXT"/>
diff --git a/services/sensorservice/Android.bp b/services/sensorservice/Android.bp
index 8c2300e..8d381b1 100644
--- a/services/sensorservice/Android.bp
+++ b/services/sensorservice/Android.bp
@@ -1,3 +1,73 @@
 subdirs = [
     "hidl"
 ]
+cc_library_shared {
+    name: "libsensorservice",
+
+    srcs: [
+        "BatteryService.cpp",
+        "CorrectedGyroSensor.cpp",
+        "Fusion.cpp",
+        "GravitySensor.cpp",
+        "LinearAccelerationSensor.cpp",
+        "OrientationSensor.cpp",
+        "RecentEventLogger.cpp",
+        "RotationVectorSensor.cpp",
+        "SensorDevice.cpp",
+        "SensorDirectConnection.cpp",
+        "SensorEventConnection.cpp",
+        "SensorFusion.cpp",
+        "SensorInterface.cpp",
+        "SensorList.cpp",
+        "SensorRecord.cpp",
+        "SensorService.cpp",
+        "SensorServiceUtils.cpp",
+    ],
+
+    cflags: [
+        "-DLOG_TAG=\"SensorService\"",
+        "-Wall",
+        "-Werror",
+        "-Wextra",
+        "-fvisibility=hidden"
+    ],
+
+    shared_libs: [
+        "libcutils",
+        "libhardware",
+        "libhardware_legacy",
+        "libutils",
+        "liblog",
+        "libbinder",
+        "libsensor",
+        "libcrypto",
+        "libbase",
+        "libhidlbase",
+        "libhidltransport",
+        "libhwbinder",
+        "android.hardware.sensors@1.0",
+    ],
+
+    static_libs: ["android.hardware.sensors@1.0-convert"],
+
+    // our public headers depend on libsensor
+    export_shared_lib_headers: ["libsensor"],
+}
+
+cc_binary {
+    name: "sensorservice",
+
+    srcs: ["main_sensorservice.cpp"],
+
+    shared_libs: [
+        "libsensorservice",
+        "libbinder",
+        "libutils",
+    ],
+
+    cflags: [
+        "-Wall",
+        "-Werror",
+        "-Wextra",
+    ],
+}
diff --git a/services/sensorservice/Android.mk b/services/sensorservice/Android.mk
deleted file mode 100644
index cfb7231..0000000
--- a/services/sensorservice/Android.mk
+++ /dev/null
@@ -1,73 +0,0 @@
-LOCAL_PATH:= $(call my-dir)
-include $(CLEAR_VARS)
-
-LOCAL_SRC_FILES:= \
-    BatteryService.cpp \
-    CorrectedGyroSensor.cpp \
-    Fusion.cpp \
-    GravitySensor.cpp \
-    LinearAccelerationSensor.cpp \
-    OrientationSensor.cpp \
-    RecentEventLogger.cpp \
-    RotationVectorSensor.cpp \
-    SensorDevice.cpp \
-    SensorDirectConnection.cpp \
-    SensorEventConnection.cpp \
-    SensorFusion.cpp \
-    SensorInterface.cpp \
-    SensorList.cpp \
-    SensorRecord.cpp \
-    SensorService.cpp \
-    SensorServiceUtils.cpp \
-
-LOCAL_CFLAGS:= -DLOG_TAG=\"SensorService\"
-
-LOCAL_CFLAGS += -Wall -Werror -Wextra
-
-LOCAL_CFLAGS += -fvisibility=hidden
-
-LOCAL_SHARED_LIBRARIES := \
-    libcutils \
-    libhardware \
-    libhardware_legacy \
-    libutils \
-    liblog \
-    libbinder \
-    libsensor \
-    libcrypto \
-    libbase \
-    libhidlbase \
-    libhidltransport \
-    libhwbinder \
-    android.hardware.sensors@1.0
-
-LOCAL_STATIC_LIBRARIES := \
-    android.hardware.sensors@1.0-convert
-
-# our public headers depend on libsensor
-LOCAL_EXPORT_SHARED_LIBRARY_HEADERS := \
-    libsensor \
-
-LOCAL_MODULE:= libsensorservice
-
-include $(BUILD_SHARED_LIBRARY)
-
-#####################################################################
-# build executable
-include $(CLEAR_VARS)
-
-LOCAL_SRC_FILES:= \
-    main_sensorservice.cpp
-
-LOCAL_SHARED_LIBRARIES := \
-    libsensorservice \
-    libbinder \
-    libutils
-
-LOCAL_CFLAGS := -Wall -Werror -Wextra
-
-LOCAL_MODULE_TAGS := optional
-
-LOCAL_MODULE:= sensorservice
-
-include $(BUILD_EXECUTABLE)
diff --git a/services/surfaceflinger/DisplayDevice.cpp b/services/surfaceflinger/DisplayDevice.cpp
index b5ffc60..6b1b3d2 100644
--- a/services/surfaceflinger/DisplayDevice.cpp
+++ b/services/surfaceflinger/DisplayDevice.cpp
@@ -121,7 +121,8 @@
     ANativeWindow* const window = mNativeWindow.get();
 
 #ifdef USE_HWC2
-    mActiveColorMode = static_cast<android_color_mode_t>(-1);
+    // Set defaultColorMode to SRGB if this device supports wide-color
+    mActiveColorMode = (supportWideColor) ? HAL_COLOR_MODE_SRGB : HAL_COLOR_MODE_NATIVE;
     mDisplayHasWideColor = supportWideColor;
 #else
     (void) supportWideColor;
diff --git a/services/surfaceflinger/SurfaceFlinger.cpp b/services/surfaceflinger/SurfaceFlinger.cpp
index 9cd1214..71d5cab 100644
--- a/services/surfaceflinger/SurfaceFlinger.cpp
+++ b/services/surfaceflinger/SurfaceFlinger.cpp
@@ -2637,6 +2637,8 @@
     {
         Mutex::Autolock _l(mStateLock);
         if (mNumLayers >= MAX_LAYERS) {
+            ALOGE("AddClientLayer failed, mNumLayers (%zu) >= MAX_LAYERS (%zu)", mNumLayers,
+                  MAX_LAYERS);
             return NO_MEMORY;
         }
         if (parent == nullptr) {
@@ -3202,6 +3204,22 @@
         getHwComposer().setPowerMode(type, mode);
         mVisibleRegionsDirty = true;
         // from this point on, SF will stop drawing on this display
+    } else if (mode == HWC_POWER_MODE_DOZE) {
+        // Update display while dozing
+        getHwComposer().setPowerMode(type, mode);
+        if (type == DisplayDevice::DISPLAY_PRIMARY) {
+            // FIXME: eventthread only knows about the main display right now
+            mEventThread->onScreenAcquired();
+            resyncToHardwareVsync(true);
+        }
+    } else if (mode == HWC_POWER_MODE_DOZE_SUSPEND) {
+        // Leave display going to doze
+        if (type == DisplayDevice::DISPLAY_PRIMARY) {
+            disableHardwareVsync(true); // also cancels any in-progress resync
+            // FIXME: eventthread only knows about the main display right now
+            mEventThread->onScreenReleased();
+        }
+        getHwComposer().setPowerMode(type, mode);
     } else {
         getHwComposer().setPowerMode(type, mode);
     }
diff --git a/services/surfaceflinger/SurfaceFlinger_hwc1.cpp b/services/surfaceflinger/SurfaceFlinger_hwc1.cpp
index 02923ae..b32b28c 100644
--- a/services/surfaceflinger/SurfaceFlinger_hwc1.cpp
+++ b/services/surfaceflinger/SurfaceFlinger_hwc1.cpp
@@ -2875,6 +2875,22 @@
         getHwComposer().setPowerMode(type, mode);
         mVisibleRegionsDirty = true;
         // from this point on, SF will stop drawing on this display
+    } else if (mode == HWC_POWER_MODE_DOZE) {
+        // Update display while dozing
+        getHwComposer().setPowerMode(type, mode);
+        if (type == DisplayDevice::DISPLAY_PRIMARY) {
+            // FIXME: eventthread only knows about the main display right now
+            mEventThread->onScreenAcquired();
+            resyncToHardwareVsync(true);
+        }
+    } else if (mode == HWC_POWER_MODE_DOZE_SUSPEND) {
+        // Leave display going to doze
+        if (type == DisplayDevice::DISPLAY_PRIMARY) {
+            disableHardwareVsync(true); // also cancels any in-progress resync
+            // FIXME: eventthread only knows about the main display right now
+            mEventThread->onScreenReleased();
+        }
+        getHwComposer().setPowerMode(type, mode);
     } else {
         getHwComposer().setPowerMode(type, mode);
     }
diff --git a/services/surfaceflinger/tests/Android.mk b/services/surfaceflinger/tests/Android.mk
index 16041da..43e22a0 100644
--- a/services/surfaceflinger/tests/Android.mk
+++ b/services/surfaceflinger/tests/Android.mk
@@ -4,7 +4,7 @@
 LOCAL_ADDITIONAL_DEPENDENCIES := $(LOCAL_PATH)/Android.mk
 
 LOCAL_MODULE := SurfaceFlinger_test
-
+LOCAL_COMPATIBILITY_SUITE := device-tests
 LOCAL_MODULE_TAGS := tests
 
 LOCAL_SRC_FILES := \
diff --git a/services/surfaceflinger/tests/AndroidTest.xml b/services/surfaceflinger/tests/AndroidTest.xml
new file mode 100644
index 0000000..8315037
--- /dev/null
+++ b/services/surfaceflinger/tests/AndroidTest.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Copyright (C) 2017 The Android Open Source Project
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+          http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+<configuration description="Config for SurfaceFlinger_test">
+    <target_preparer class="com.android.tradefed.targetprep.PushFilePreparer">
+        <option name="cleanup" value="true" />
+        <option name="push" value="SurfaceFlinger_test->/data/local/tmp/SurfaceFlinger_test" />
+    </target_preparer>
+    <option name="test-suite-tag" value="apct" />
+    <test class="com.android.tradefed.testtype.GTest" >
+        <option name="native-test-device-path" value="/data/local/tmp" />
+        <option name="module-name" value="SurfaceFlinger_test" />
+    </test>
+</configuration>
diff --git a/services/surfaceflinger/tests/vsync/Android.mk b/services/surfaceflinger/tests/vsync/Android.mk
index 9181760..8e41617 100644
--- a/services/surfaceflinger/tests/vsync/Android.mk
+++ b/services/surfaceflinger/tests/vsync/Android.mk
@@ -15,4 +15,6 @@
 
 LOCAL_MODULE_TAGS := tests
 
+LOCAL_CFLAGS := -Werror
+
 include $(BUILD_EXECUTABLE)
diff --git a/services/surfaceflinger/tests/vsync/vsync.cpp b/services/surfaceflinger/tests/vsync/vsync.cpp
index aa72c79..a1b45e6 100644
--- a/services/surfaceflinger/tests/vsync/vsync.cpp
+++ b/services/surfaceflinger/tests/vsync/vsync.cpp
@@ -20,7 +20,7 @@
 
 using namespace android;
 
-int receiver(int fd, int events, void* data)
+int receiver(int /*fd*/, int /*events*/, void* data)
 {
     DisplayEventReceiver* q = (DisplayEventReceiver*)data;
 
@@ -47,7 +47,7 @@
     return 1;
 }
 
-int main(int argc, char** argv)
+int main(int /*argc*/, char** /*argv*/)
 {
     DisplayEventReceiver myDisplayEvent;
 
diff --git a/services/surfaceflinger/tests/waitforvsync/Android.mk b/services/surfaceflinger/tests/waitforvsync/Android.mk
index c25f5ab..932d2be 100644
--- a/services/surfaceflinger/tests/waitforvsync/Android.mk
+++ b/services/surfaceflinger/tests/waitforvsync/Android.mk
@@ -11,4 +11,6 @@
 
 LOCAL_MODULE_TAGS := tests
 
+LOCAL_CFLAGS := -Werror
+
 include $(BUILD_EXECUTABLE)
diff --git a/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp b/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp
index b88b04a..65eaae5 100644
--- a/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp
+++ b/services/surfaceflinger/tests/waitforvsync/waitforvsync.cpp
@@ -29,7 +29,7 @@
 #define FBIO_WAITFORVSYNC   _IOW('F', 0x20, __u32)
 #endif
 
-int main(int argc, char** argv) {
+int main(int /*argc*/, char** /*argv*/) {
     int fd = open("/dev/graphics/fb0", O_RDWR);
     if (fd >= 0) {
         do {
diff --git a/services/vr/sensord/pose_service.cpp b/services/vr/sensord/pose_service.cpp
index 75423bb..edf4998 100644
--- a/services/vr/sensord/pose_service.cpp
+++ b/services/vr/sensord/pose_service.cpp
@@ -93,6 +93,10 @@
       return "DVR_POSE_MODE_MOCK_ROTATE_FAST";
     case DVR_POSE_MODE_MOCK_CIRCLE_STRAFE:
       return "DVR_POSE_MODE_MOCK_CIRCLE_STRAFE";
+    case DVR_POSE_MODE_FLOAT:
+      return "DVR_POSE_MODE_FLOAT";
+    case DVR_POSE_MODE_MOCK_MOTION_SICKNESS:
+      return "DVR_POSE_MODE_MOCK_MOTION_SICKNESS";
     default:
       return "Unknown pose mode";
   }
@@ -421,7 +425,8 @@
                       current_time_ns);
       break;
     }
-    case DVR_POSE_MODE_3DOF: {
+    case DVR_POSE_MODE_3DOF:
+    case DVR_POSE_MODE_FLOAT: {
       // Sensor fusion provides IMU-space data, transform to world space.
 
       // Constants to perform IMU orientation adjustments. Note that these
@@ -458,13 +463,25 @@
       }
       start_from_head_rotation.normalize();
 
-      // Neck / head model code procedure for when no 6dof is available.
-      // To apply the neck model, first translate the head pose to the new
-      // center of eyes, then rotate around the origin (the original head
-      // pos).
-      Vector3d position =
-          start_from_head_rotation * Vector3d(0.0, kDefaultNeckVerticalOffset,
-                                              -kDefaultNeckHorizontalOffset);
+      Vector3d position;
+      switch (pose_mode_) {
+        default:
+        case DVR_POSE_MODE_3DOF:
+          // Neck / head model code procedure for when no 6dof is available.
+          // To apply the neck model, first translate the head pose to the new
+          // center of eyes, then rotate around the origin (the original head
+          // pos).
+          position = start_from_head_rotation *
+                     Vector3d(0.0, kDefaultNeckVerticalOffset,
+                              -kDefaultNeckHorizontalOffset);
+          break;
+        case DVR_POSE_MODE_FLOAT:
+          // Change position a bit in facing direction.
+          mock_pos_offset_ += start_from_head_rotation.toRotationMatrix() * Vector3d(0, 0, -0.01);
+          ResetMockDeviatedPosition();
+          position = mock_pos_offset_;
+          break;
+      }
 
       // Update the current latency model.
       if (pose_state.timestamp_ns != 0) {
@@ -478,6 +495,26 @@
           pose_state.timestamp_ns + sensor_latency_.CurrentLatencyEstimate());
       break;
     }
+    case DVR_POSE_MODE_MOCK_MOTION_SICKNESS: {
+      double phase = std::sin(current_time_ns / 1e9) + 1;
+      // Randomize 3rd order rotation axis on phase minimum.
+      if (phase > mock_prev_phase_ && mock_diff_phase_ < 0)
+        mock_rot_axis_2_ = RandVector();
+      mock_diff_phase_ = phase - mock_prev_phase_;
+      mock_prev_phase_ = phase;
+
+      // Rotate axes all the way down.
+      mock_rot_axis_2_ = AngleAxisd(0.004 * phase, mock_rot_axis_3_) * mock_rot_axis_2_;
+      mock_rot_axis_1_ = AngleAxisd(0.002 * (std::sin(current_time_ns / 5e8 + M_PI / 2) + 1), mock_rot_axis_2_) * mock_rot_axis_1_;
+      Rotationd rotation = Rotationd(AngleAxisd(fmod(current_time_ns / 2e9, kTwoPi), mock_rot_axis_1_));
+
+      // Change position a bit.
+      mock_pos_offset_ += rotation.toRotationMatrix() * Vector3d(0, 0, 0.003 * (std::sin(current_time_ns / 6e8) + 1));
+      ResetMockDeviatedPosition();
+
+      WriteAsyncPoses(mock_pos_offset_, rotation, current_time_ns);
+      break;
+    }
     default:
     case DVR_POSE_MODE_6DOF:
       ALOGE("ERROR: invalid pose mode");
@@ -485,6 +522,13 @@
   }
 }
 
+void PoseService::ResetMockDeviatedPosition() {
+  if (mock_pos_offset_[1] < -1) mock_pos_offset_[1] = 2;
+  if (mock_pos_offset_[1] > 30) mock_pos_offset_[1] = 2;
+  if (abs(mock_pos_offset_[0]) > 30) mock_pos_offset_[0] = mock_pos_offset_[2] = 0;
+  if (abs(mock_pos_offset_[2]) > 30) mock_pos_offset_[0] = mock_pos_offset_[2] = 0;
+}
+
 pdx::Status<void> PoseService::HandleMessage(pdx::Message& msg) {
   pdx::Status<void> ret;
   const pdx::MessageInfo& info = msg.GetInfo();
@@ -638,6 +682,10 @@
   if (mode == DVR_POSE_MODE_6DOF) {
     // Only 3DoF is currently supported.
     mode = DVR_POSE_MODE_3DOF;
+  } else if (mode == DVR_POSE_MODE_MOCK_MOTION_SICKNESS) {
+    mock_rot_axis_1_ = RandVector();
+    mock_rot_axis_2_ = RandVector();
+    mock_rot_axis_3_ = RandVector();
   }
 
   pose_mode_ = mode;
diff --git a/services/vr/sensord/pose_service.h b/services/vr/sensord/pose_service.h
index 7b7adec..acf4124 100644
--- a/services/vr/sensord/pose_service.h
+++ b/services/vr/sensord/pose_service.h
@@ -102,6 +102,25 @@
   // Last known pose.
   DvrPoseAsync last_known_pose_;
 
+  // Position offset for use in pose modes.
+  Eigen::Vector3d mock_pos_offset_;
+
+  // Phase data for DVR_POSE_MODE_MOCK_MOTION_SICKNESS.
+  double mock_prev_phase_, mock_diff_phase_;
+
+  // Axis data for DVR_POSE_MODE_MOCK_MOTION_SICKNESS.
+  Eigen::Vector3d mock_rot_axis_1_, mock_rot_axis_2_, mock_rot_axis_3_;
+
+  // Return a random normalized 3d vector.
+  static Eigen::Vector3d RandVector() {
+    Eigen::Vector3d vec = Eigen::Vector3d::Random();
+    vec.normalize();
+    return vec;
+  }
+
+  // Reset mock_pos_offset_ if strayed too far
+  void ResetMockDeviatedPosition();
+
   // If this flag is true, the pose published includes a small prediction of
   // where it'll be when it's consumed.
   bool enable_pose_prediction_;