diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 660c1650fa18ef..7a1731b7a7799e 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -4013,3 +4013,24 @@ function visual_odom:healthy() end
 -- visual odometry quality as a percentage from 1 to 100 or 0 if unknown
 ---@return integer
 function visual_odom:quality() end
+
+-- Returns the number of detected obstacles via ADS-B
+-- the ADS-B Must be enabled.
+---@return integer -- number of obstacles
+function avoid:num_obstacles() end-- Returns a Location userdata for the last position of the obstacle observed.
+
+---@param instance integer -- instance number
+---@return Location_ud --ADSB location
+function avoid:get_obstacle_loc(instance) end-- Returns a Vector3f that contains the velocity as obtained from ADS-B.
+
+---@param instance integer -- instance number
+---@return Vector3f_ud -- 3D velocity in m/s, in NED format
+function avoid:get_obstacle_vel(instance) end-- Obstacle id as obtained from ADS-B.
+
+---@param instance integer -- instance number
+---@return int32_t_ud
+function avoid:get_obstacle_id(instance) end-- ADS-B message time.
+
+---@param instance integer -- instance number
+---@return int32_t_ud
+function avoid:get_obstacle_time(instance) end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index d0ff5b1e490b53..77ecf6f1840654 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -1039,3 +1039,14 @@ include AP_TemperatureSensor/AP_TemperatureSensor.h
 singleton AP_TemperatureSensor depends AP_TEMPERATURE_SENSOR_ENABLED
 singleton AP_TemperatureSensor rename temperature_sensor
 singleton AP_TemperatureSensor method get_temperature boolean float'Null uint8_t'skip_check
+
+
+include AP_Avoidance/AP_Avoidance.h
+singleton AP_Avoidance rename avoid
+singleton AP_Avoidance method num_obstacles uint8_t
+singleton AP_Avoidance method get_obstacle_loc Location uint8_t'skip_check
+singleton AP_Avoidance method get_obstacle_vel Vector3f uint8_t'skip_check
+singleton AP_Avoidance method get_obstacle_id int32_t uint8_t'skip_check
+singleton AP_Avoidance method get_obstacle_time int32_t uint8_t'skip_check
+
+