diff --git a/drivers/sensors/sensor.c b/drivers/sensors/sensor.c
index cdb02dd55d..1ca83c7172 100644
--- a/drivers/sensors/sensor.c
+++ b/drivers/sensors/sensor.c
@@ -87,6 +87,8 @@ struct sensor_user_s
   bool             changed;    /* This is used to indicate event happens and need to
                                 * asynchronous notify other users
                                 */
+  unsigned int     event;      /* The event of this sensor, eg: SENSOR_EVENT_FLUSH_COMPLETE. */
+  bool             flushing;   /* The is used to indicate user is flushing */
   sem_t            buffersem;  /* Wakeup user waiting for data in circular buffer */
   size_t           bufferpos;  /* The index of user generation in buffer */
 
@@ -879,6 +881,51 @@ static int sensor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
         }
         break;
 
+     case SNIOC_GET_EVENTS:
+        {
+          nxrmutex_lock(&upper->lock);
+          *(FAR unsigned int *)(uintptr_t)arg = user->event;
+          user->event = 0;
+          nxrmutex_unlock(&upper->lock);
+        }
+
+     case SNIOC_FLUSH:
+        {
+          nxrmutex_lock(&upper->lock);
+
+          /* If the sensor is not activated, return -EINVAL. */
+
+          if (upper->state.nsubscribers == 0)
+            {
+              nxrmutex_unlock(&upper->lock);
+              return -EINVAL;
+            }
+
+          if (lower->ops->flush != NULL)
+            {
+              /* Lower half driver will do flush in asynchronous mode,
+               * flush will be completed until push event happened with
+               * bytes is zero.
+               */
+
+              ret = lower->ops->flush(lower, filep);
+              if (ret >= 0)
+                {
+                  user->flushing = true;
+                }
+            }
+          else
+            {
+              /* If flush is not supported, complete immediately */
+
+              user->event |= SENSOR_EVENT_FLUSH_COMPLETE;
+              sensor_pollnotify_one(user, POLLPRI);
+            }
+
+          nxrmutex_unlock(&upper->lock);
+        }
+        break;
+
       default:
 
         /* Lowerhalf driver process other cmd. */
@@ -972,13 +1019,31 @@ static ssize_t sensor_push_event(FAR void *priv, FAR const void *data,
   int semcount;
   int ret;
 
-  envcount = bytes / upper->state.esize;
-  if (!envcount || bytes != envcount * upper->state.esize)
+  nxrmutex_lock(&upper->lock);
+  if (bytes == 0)
     {
+      list_for_every_entry(&upper->userlist, user, struct sensor_user_s,
+                           node)
+        {
+          if (user->flushing)
+            {
+              user->flushing = false;
+              user->event |= SENSOR_EVENT_FLUSH_COMPLETE;
+              sensor_pollnotify_one(user, POLLPRI);
+            }
+        }
+
+      nxrmutex_unlock(&upper->lock);
+      return 0;
+    }
+
+  envcount = bytes / upper->state.esize;
+  if (bytes != envcount * upper->state.esize)
+    {
+      nxrmutex_unlock(&upper->lock);
       return -EINVAL;
     }
 
-  nxrmutex_lock(&upper->lock);
   if (!circbuf_is_init(&upper->buffer))
     {
       /* Initialize sensor buffer when data is first generated */
diff --git a/drivers/sensors/sensor_rpmsg.c b/drivers/sensors/sensor_rpmsg.c
index 2dc4715a4d..47ead41b8e 100644
--- a/drivers/sensors/sensor_rpmsg.c
+++ b/drivers/sensors/sensor_rpmsg.c
@@ -116,6 +116,7 @@ struct sensor_rpmsg_stub_s
   FAR struct rpmsg_endpoint     *ept;
   uint64_t                       cookie;
   struct file                    file;
+  bool                           flushing;
 };
 
 /* This structure describes the proxy info about remote advertisers. */
@@ -206,6 +207,8 @@ static int sensor_rpmsg_set_interval(FAR struct sensor_lowerhalf_s *lower,
 static int sensor_rpmsg_batch(FAR struct sensor_lowerhalf_s *lower,
                               FAR struct file *filep,
                               FAR unsigned long *latency_us);
+static int sensor_rpmsg_flush(FAR struct sensor_lowerhalf_s *lower,
+                              FAR struct file *filep);
 static int sensor_rpmsg_selftest(FAR struct sensor_lowerhalf_s *lower,
                                  FAR struct file *filep,
                                  unsigned long arg);
@@ -249,7 +252,8 @@ static int sensor_rpmsg_ioctlack_handler(FAR struct rpmsg_endpoint *ept,
                                          FAR void *data, size_t len,
                                          uint32_t src, FAR void *priv);
 static void sensor_rpmsg_push_event_one(FAR struct sensor_rpmsg_dev_s *dev,
-                                       FAR struct sensor_rpmsg_stub_s *stub);
+                                       FAR struct sensor_rpmsg_stub_s *stub,
+                                       bool flushed);
 
 /****************************************************************************
  * Private Data
@@ -262,6 +266,7 @@ static const struct sensor_ops_s g_sensor_rpmsg_ops =
   .activate       = sensor_rpmsg_activate,
   .set_interval   = sensor_rpmsg_set_interval,
   .batch          = sensor_rpmsg_batch,
+  .flush          = sensor_rpmsg_flush,
   .selftest       = sensor_rpmsg_selftest,
   .set_calibvalue = sensor_rpmsg_set_calibvalue,
   .calibrate      = sensor_rpmsg_calibrate,
@@ -554,7 +559,7 @@ sensor_rpmsg_alloc_stub(FAR struct sensor_rpmsg_dev_s *dev,
 
   if (dev->lower.persist)
     {
-      sensor_rpmsg_push_event_one(dev, stub);
+      sensor_rpmsg_push_event_one(dev, stub, false);
     }
 
   sensor_rpmsg_unlock(dev);
@@ -696,6 +701,25 @@ SENSOR_RPMSG_FUNCTION(set_calibvalue, SNIOC_SET_CALIBVALUE,
                       arg, arg, 256, true)
 SENSOR_RPMSG_FUNCTION(calibrate, SNIOC_CALIBRATE, arg, arg, 256, true)
 
+static int sensor_rpmsg_flush(FAR struct sensor_lowerhalf_s *lower,
+                              FAR struct file *filep)
+{
+  FAR struct sensor_rpmsg_dev_s *dev = lower->priv;
+  FAR struct sensor_lowerhalf_s *drv = dev->drv;
+  int ret = -ENOTTY;
+
+  if (drv->ops->flush)
+    {
+      ret = drv->ops->flush(drv, filep);
+    }
+  else if (!(filep->f_oflags & SENSOR_REMOTE))
+    {
+      ret = sensor_rpmsg_ioctl(dev, SNIOC_FLUSH, 0, 0, true);
+    }
+
+  return ret;
+}
+
 static int sensor_rpmsg_get_info(FAR struct sensor_lowerhalf_s *lower,
                                  FAR struct file *filep,
                                  FAR struct sensor_device_info_s *info)
@@ -754,7 +778,8 @@ static void sensor_rpmsg_data_worker(FAR void *arg)
 }
 
 static void sensor_rpmsg_push_event_one(FAR struct sensor_rpmsg_dev_s *dev,
-                                        FAR struct sensor_rpmsg_stub_s *stub)
+                                        FAR struct sensor_rpmsg_stub_s *stub,
+                                        bool flushed)
 {
   FAR struct sensor_rpmsg_cell_s *cell;
   FAR struct sensor_rpmsg_ept_s *sre;
@@ -790,7 +815,7 @@ static void sensor_rpmsg_push_event_one(FAR struct sensor_rpmsg_dev_s *dev,
   for (; ; )
     {
       ret = file_ioctl(&stub->file, SNIOC_UPDATED, &updated);
-      if (ret < 0 || !updated)
+      if (ret < 0 || (!updated && !flushed))
         {
           break;
         }
@@ -823,11 +848,19 @@ static void sensor_rpmsg_push_event_one(FAR struct sensor_rpmsg_dev_s *dev,
         }
 
       cell = sre->buffer + sre->written;
-      ret  = file_read(&stub->file, cell->data,
-                       sre->space - sre->written - sizeof(*cell));
-      if (ret <= 0)
+      if (flushed)
         {
-          break;
+          flushed = false;
+          stub->flushing = false;
+        }
+      else
+        {
+          ret  = file_read(&stub->file, cell->data,
+                           sre->space - sre->written - sizeof(*cell));
+          if (ret <= 0)
+            {
+              break;
+            }
         }
 
       cell->len     = ret;
@@ -891,7 +924,8 @@ static ssize_t sensor_rpmsg_push_event(FAR void *priv, FAR const void *data,
   list_for_every_entry_safe(&dev->stublist, stub, stmp,
                             struct sensor_rpmsg_stub_s, node)
     {
-      sensor_rpmsg_push_event_one(dev, stub);
+      sensor_rpmsg_push_event_one(dev, stub,
+                                  stub->flushing && bytes == 0);
     }
 
   sensor_rpmsg_unlock(dev);
@@ -1145,6 +1179,11 @@ static int sensor_rpmsg_ioctl_handler(FAR struct rpmsg_endpoint *ept,
       if (stub->ept == ept)
         {
           msg->result = file_ioctl(&stub->file, msg->request, arg);
+          if (msg->result >= 0 && msg->request == SNIOC_FLUSH)
+            {
+              stub->flushing = true;
+            }
+
           if (msg->cookie)
             {
               msg->command = SENSOR_RPMSG_IOCTL_ACK;
diff --git a/include/nuttx/sensors/ioctl.h b/include/nuttx/sensors/ioctl.h
index 0dc98b5358..e9fd00170e 100644
--- a/include/nuttx/sensors/ioctl.h
+++ b/include/nuttx/sensors/ioctl.h
@@ -451,4 +451,17 @@
 #  define SNIOC_SET_INFO              _SNIOC(0x009C)
 #endif
 
+/* Command:      SNIOC_FLUSH
+ * Description:  Flush sensor harware fifo buffer.
+ */
+
+#define SNIOC_FLUSH                   _SNIOC(0x009D)
+
+/* Command:      SNIOC_GET_EVENTS
+ * Description:  Get events of the sensor device.
+ * Argument:     The events pointer, (unsigned int *)
+ */
+
+#define SNIOC_GET_EVENTS              _SNIOC(0x009E)
+
 #endif /* __INCLUDE_NUTTX_SENSORS_IOCTL_H */
diff --git a/include/nuttx/sensors/sensor.h b/include/nuttx/sensors/sensor.h
index 1075cd29eb..c64d09de13 100644
--- a/include/nuttx/sensors/sensor.h
+++ b/include/nuttx/sensors/sensor.h
@@ -352,6 +352,36 @@ struct sensor_ops_s
                     FAR struct file *filep,
                     FAR char *buffer, size_t buflen);
 
+  /**************************************************************************
+   * Name: flush
+   *
+   * When sensor data accumulates in the hardware buffer but does not
+   * reach the watermark, the upper-layer application can immediately push
+   * the fifo data to the upper layer circbuffer through the flush operation.
+   *
+   * The flush operation is an asynchronous operation. The lower half driver
+   * must call push event with data is NULL and len is zero when the flush
+   * action is completed, then upper half driver triggers the POLLPRI event,
+   * and update user state event to tell application the flush complete
+   * event.
+   *
+   * You can call the flush operation at any time. When the sensor is not
+   * activated, flsuh returns -EINVAL. When the sensor does not support fifo,
+   * it immediately returns the POLLPRI event, indicating that the flush
+   * is completed.
+   *
+   * Input Parameters:
+   *   lower      - The instance of lower half sensor driver.
+   *   filep      - The pointer of file, represents each user using sensor.
+   *
+   * Returned Value:
+   *   Zero (OK) on success; a negated errno value on failure.
+   *
+   **************************************************************************/
+
+  CODE int (*flush)(FAR struct sensor_lowerhalf_s *lower,
+                    FAR struct file *filep);
+
   /**************************************************************************
    * Name: selftest
    *
diff --git a/include/nuttx/uorb.h b/include/nuttx/uorb.h
index 71ed839731..e1764c0138 100644
--- a/include/nuttx/uorb.h
+++ b/include/nuttx/uorb.h
@@ -321,6 +321,10 @@
 
 #define SENSOR_INFO_NAME_SIZE                       32
 
+/* Sensor event flags */
+
+#define SENSOR_EVENT_FLUSH_COMPLETE                 0x01
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/