diff --git a/packages/SystemUI/res/values/strings.xml b/packages/SystemUI/res/values/strings.xml
index 77de9a2c995cb..112120ac6b215 100644
--- a/packages/SystemUI/res/values/strings.xml
+++ b/packages/SystemUI/res/values/strings.xml
@@ -1725,6 +1725,10 @@
         not appear on production builds ever. -->
     <string name="tuner_doze" translatable="false">Ambient Display</string>
 
+    <!-- Ambient display, Sensors wake up device of the tuner. Non-translatable since it should
+        not appear on production builds ever. -->
+    <string name="tuner_doze_sensors_wake_up_fully" translatable="false">Wake up device on double tap or lift</string>
+
     <!-- Ambient display always-on of the tuner. Non-translatable since it should
         not appear on production builds ever. -->
     <string name="tuner_doze_always_on" translatable="false">Always on</string>
diff --git a/packages/SystemUI/res/xml/tuner_prefs.xml b/packages/SystemUI/res/xml/tuner_prefs.xml
index c354811800756..e566213e9ff43 100644
--- a/packages/SystemUI/res/xml/tuner_prefs.xml
+++ b/packages/SystemUI/res/xml/tuner_prefs.xml
@@ -143,6 +143,11 @@
           android:title="@string/tuner_doze_always_on"
           sysui:defValue="false" />
 
+        <com.android.systemui.tuner.TunerSwitch
+          android:key="doze_sensors_wake_up_fully"
+          android:title="@string/tuner_doze_sensors_wake_up_fully"
+          sysui:defValue="false" />
+
     </PreferenceScreen>
     -->
 
diff --git a/packages/SystemUI/src/com/android/systemui/doze/DozeTriggers.java b/packages/SystemUI/src/com/android/systemui/doze/DozeTriggers.java
index db5a3921db9de..b5c7dd3bfc668 100644
--- a/packages/SystemUI/src/com/android/systemui/doze/DozeTriggers.java
+++ b/packages/SystemUI/src/com/android/systemui/doze/DozeTriggers.java
@@ -97,7 +97,11 @@ public class DozeTriggers implements DozeMachine.Part {
     }
 
     private void onSensor(int pulseReason, boolean sensorPerformedProxCheck) {
-        requestPulse(pulseReason, sensorPerformedProxCheck);
+        if (mDozeParameters.getSensorsWakeUpFully()) {
+            mMachine.wakeUp();
+        } else {
+            requestPulse(pulseReason, sensorPerformedProxCheck);
+        }
 
         if (pulseReason == DozeLog.PULSE_REASON_SENSOR_PICKUP) {
             final long timeSinceNotification =
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/DozeParameters.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/DozeParameters.java
index 0e074c7b87102..883a66b595311 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/DozeParameters.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/DozeParameters.java
@@ -31,6 +31,7 @@ import java.io.PrintWriter;
 
 public class DozeParameters {
     private static final int MAX_DURATION = 60 * 1000;
+    public static final String DOZE_SENSORS_WAKE_UP_FULLY = "doze_sensors_wake_up_fully";
 
     private final Context mContext;
 
@@ -56,6 +57,10 @@ public class DozeParameters {
         pw.print("    getPickupVibrationThreshold(): "); pw.println(getPickupVibrationThreshold());
         pw.print("    getPickupSubtypePerformsProxCheck(): ");pw.println(
                 dumpPickupSubtypePerformsProxCheck());
+        if (Build.IS_DEBUGGABLE) {
+            pw.print("    getAlwaysOn(): "); pw.println(getAlwaysOn());
+            pw.print("    getSensorsWakeUpFully(): "); pw.println(getSensorsWakeUpFully());
+        }
     }
 
     private String dumpPickupSubtypePerformsProxCheck() {
@@ -118,6 +123,12 @@ public class DozeParameters {
                 Settings.Secure.DOZE_ALWAYS_ON, 0, UserHandle.USER_CURRENT) != 0;
     }
 
+    public boolean getSensorsWakeUpFully() {
+        return Build.IS_DEBUGGABLE
+                && Settings.Secure.getIntForUser(mContext.getContentResolver(),
+                DOZE_SENSORS_WAKE_UP_FULLY, 0, UserHandle.USER_CURRENT) != 0;
+    }
+
     private boolean getBoolean(String propName, int resId) {
         return SystemProperties.getBoolean(propName, mContext.getResources().getBoolean(resId));
     }