diff --git a/libraries/AP_Scripting/.gitignore b/libraries/AP_Scripting/.gitignore
new file mode 100644
index 0000000000..319ec56ad5
--- /dev/null
+++ b/libraries/AP_Scripting/.gitignore
@@ -0,0 +1,3 @@
+lua_generated_bindings.cpp
+lua_generated_bindings.h
+
diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index f5759f6b48..971d6ffcd1 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -68,8 +68,8 @@ FILE *description;
 FILE *header;
 FILE *source;
 
-static struct generator_state state = {};
-static struct header * headers = NULL;
+static struct generator_state state;
+static struct header * headers;
 
 enum trace_level {
   TRACE_TOKENS    = (1 << 0),
@@ -321,8 +321,8 @@ struct userdata {
   int flags; // flags from the userdata_flags enum
 };
 
-static struct userdata *parsed_userdata = NULL;
-static struct userdata *parsed_ap_objects = NULL;
+static struct userdata *parsed_userdata;
+static struct userdata *parsed_ap_objects;
 
 
 struct dependency {
@@ -332,7 +332,7 @@ struct dependency {
   char *error_msg; // message if the check fails
 };
 
-static struct dependency *parsed_dependencies = NULL;
+static struct dependency *parsed_dependencies;
 
 // lazy helper that allocates a storage buffer and does strcpy for us
 void string_copy(char **dest, const char * src) {
@@ -1928,7 +1928,7 @@ int main(int argc, char **argv) {
   sanity_check_userdata();
 
   fprintf(source, "#include \"lua_generated_bindings.h\"\n");
-  fprintf(source, "#include \"lua_boxed_numerics.h\"\n");
+  fprintf(source, "#include <AP_Scripting/lua_boxed_numerics.h>\n");
 
   trace(TRACE_GENERAL, "Starting emission");
 
@@ -1980,7 +1980,7 @@ int main(int argc, char **argv) {
   fprintf(header, "#pragma once\n");
   fprintf(header, "// auto generated bindings, don't manually edit.  See README.md for details.\n");
   emit_headers(header);
-  fprintf(header, "#include \"lua/src/lua.hpp\"\n");
+  fprintf(header, "#include <AP_Scripting/lua/src/lua.hpp>\n");
   fprintf(header, "#include <new>\n\n");
   emit_dependencies(header);
   fprintf(header, "\n\n");
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index d3e38fcf58..83a7c340da 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -5,7 +5,7 @@
 #include "lua_bindings.h"
 
 #include "lua_boxed_numerics.h"
-#include "lua_generated_bindings.h"
+#include <AP_Scripting/lua_generated_bindings.h>
 
 extern const AP_HAL::HAL& hal;
 
diff --git a/libraries/AP_Scripting/lua_repl.cpp b/libraries/AP_Scripting/lua_repl.cpp
index fc2b5b8cf0..d90f078dcd 100644
--- a/libraries/AP_Scripting/lua_repl.cpp
+++ b/libraries/AP_Scripting/lua_repl.cpp
@@ -4,7 +4,7 @@
 
 
 #include "lua_scripts.h"
-#include "lua_generated_bindings.h"
+#include <AP_Scripting/lua_generated_bindings.h>
 
 #include "lua/src/lua.h"
 #include "lua/src/lauxlib.h"
diff --git a/libraries/AP_Scripting/lua_scripts.cpp b/libraries/AP_Scripting/lua_scripts.cpp
index 3d7a326895..244c09f644 100644
--- a/libraries/AP_Scripting/lua_scripts.cpp
+++ b/libraries/AP_Scripting/lua_scripts.cpp
@@ -18,7 +18,7 @@
 #include <GCS_MAVLink/GCS.h>
 #include "AP_Scripting.h"
 
-#include "lua_generated_bindings.h"
+#include <AP_Scripting/lua_generated_bindings.h>
 
 #ifndef SCRIPTING_DIRECTORY
   #if HAL_OS_FATFS_IO
diff --git a/libraries/AP_Scripting/wscript b/libraries/AP_Scripting/wscript
new file mode 100644
index 0000000000..adffe3cdc5
--- /dev/null
+++ b/libraries/AP_Scripting/wscript
@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+# encoding: utf-8
+'''
+build generated bindings from bindings.desc for AP_Scripting
+'''
+
+from waflib.TaskGen import after_method, before_method, feature
+
+CFLAGS="-std=c99 -Wno-error=missing-field-initializers -Wall -Werror -Wextra"
+CC="gcc"
+
+def configure(cfg):
+    cfg.env.AP_LIB_EXTRA_SOURCES['AP_Scripting'] = ['lua_generated_bindings.cpp']
+
+def build(bld):
+    main_c = bld.srcnode.make_node('libraries/AP_Scripting/generator/src/main.c')
+    gen_bindings = bld.bldnode.find_or_declare('gen-bindings')
+
+    bld(
+        # build gen-bindings compiler
+        source=main_c,
+        target=[gen_bindings],
+        # we should have configure tests for finding the native compiler
+        rule="%s %s -o %s %s" % (CC, CFLAGS, gen_bindings.abspath(), main_c.abspath()),
+        group='dynamic_sources',
+    )
+
+    bindings = bld.srcnode.make_node('libraries/AP_Scripting/generator/description/bindings.desc')
+    gen_bindings = bld.bldnode.find_or_declare('gen-bindings')
+    generated_cpp = bld.bldnode.find_or_declare('libraries/AP_Scripting/lua_generated_bindings.cpp')
+    generated_h = bld.bldnode.find_or_declare('libraries/AP_Scripting/lua_generated_bindings.h')
+
+    bld(
+        # build the bindings
+        source=[bindings, gen_bindings],
+        rule="./gen-bindings -o libraries/AP_Scripting/lua_generated_bindings -i %s" % (bindings.abspath()),
+        target=[generated_cpp, generated_h],
+        group='dynamic_sources',
+    )