diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 5fe0593f11..1af5f8ee92 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -135,7 +135,7 @@ i2c = {}
 ---@param address integer -- device address 0 to 128
 ---@param clock? uint32_t_ud|integer|number -- optional bus clock, default 400000
 ---@param smbus? boolean -- optional sumbus flag, default false
----@return AP_HAL__I2CDevice_ud|nil
+---@return AP_HAL__I2CDevice_ud
 function i2c:get_device(bus, address, clock, smbus) end
 
 -- EFI state structure
@@ -1211,6 +1211,13 @@ local AP_HAL__I2CDevice_ud = {}
 ---@param address integer
 function AP_HAL__I2CDevice_ud:set_address(address) end
 
+-- Performs an I2C transfer, sending data_str bytes (see string.pack) and
+-- returning a string of any requested read bytes (see string.unpack)
+---@param data_str string
+---@param read_length integer
+---@return string|nil
+function AP_HAL__I2CDevice_ud:transfer(data_str, read_length) end
+
 -- If no read length is provided a single register will be read and returned.
 -- If read length is provided a table of register values are returned.
 ---@param register_num integer
diff --git a/libraries/AP_Scripting/examples/RM3100_self_test.lua b/libraries/AP_Scripting/examples/RM3100_self_test.lua
new file mode 100644
index 0000000000..7f16a1d0f9
--- /dev/null
+++ b/libraries/AP_Scripting/examples/RM3100_self_test.lua
@@ -0,0 +1,107 @@
+-- Runs the Built-In Self Test on the RM3100 LR circuits
+-- Note COMPASS_DISBLMSK should have the 16th bit set to 1 (RM3100)
+
+-- Init RM3100 on bus 0
+local rm3100 = i2c:get_device(0, 0x20)
+assert(rm3100 ~= nil, "i2c get_device error, cannot run RM3100 self test")
+
+-- Queues a Built-In Self Test
+function queue_test()
+    gcs:send_text(1, "Running RM3100 self test")
+
+    -- Queue a self test by setting BIST register
+    local ret = rm3100:transfer("\x33\x8F", 0)
+    if ret == nil then
+        gcs:send_text(1, "Rm3100 BIST transfer failed")
+        return queue_test, 1000
+    end
+
+    -- Send a POLL request to run a BIST
+    ret = rm3100:transfer("\x00\x70", 0)
+    if ret == nil then
+        gcs:send_text(1, "Rm3100 POLL transfer failed")
+        return queue_test, 1000
+    end
+
+    -- As a measurement takes time, delay a bit by scheduling a different function
+    return read_test, 1000
+end
+
+
+-- Reads back values from a Built-In Self Test
+function read_test()
+    -- Read the BIST results
+    local results_str = rm3100:transfer("\x33", 1)
+    if results_str ~= nil then
+        local results = results_str:byte()
+
+        if results & (1 << 4) == 0 then
+            gcs:send_text(1, "RM3100 X is unhealthy")
+        else
+            gcs:send_text(1, "RM3100 X is OK")
+        end
+
+        if results & (1 << 5) == 0 then
+            gcs:send_text(1, "RM3100 Y is unhealthy")
+        else
+            gcs:send_text(1, "RM3100 Y is OK")
+        end
+
+        if results & (1 << 6) == 0 then
+            gcs:send_text(1, "RM3100 Z is unhealthy")
+        else
+            gcs:send_text(1, "RM3100 Z is OK")
+        end
+    else
+        gcs:send_text(1, "Rm3100 BIST read transfer failed")
+        return queue_test, 1000
+    end
+
+    -- Reset the BIST register
+    local ret = rm3100:transfer("\x33\x0F", 0)
+    if ret == nil then
+        gcs:send_text(1, "Rm3100 BIST reset transfer failed")
+        return queue_test, 1000
+    end
+
+    -- Send a POLL request to take a data point
+    ret = rm3100:transfer("\x00\x70", 0)
+    if ret == nil then
+        gcs:send_text(1, "Rm3100 POLL data transfer failed")
+        return queue_test, 1000
+    end
+
+    -- As a measurement takes time, delay a bit by scheduling a different function
+    return read_data, 1000
+end
+
+-- Reads data from the RM3100
+function read_data()
+    -- Check that data is ready for a read
+    local status_str = rm3100:transfer("\x34", 1)
+    if status_str ~= nil then
+        local status = status_str:byte()
+        if status & (1 << 7) == 0 then
+            gcs:send_text(1, "RM3100 data not ready for reading")
+            return queue_test, 1000
+        end
+    else
+        gcs:send_text(1, "Rm3100 BIST status reg transfer failed")
+        return queue_test, 1000
+    end
+
+    -- Read measured values
+    local measurements_str = rm3100:transfer("\x24", 9)
+    if measurements_str ~= nil then
+        local MX, MY, MZ = string.unpack(">i3>i3>i3", measurements_str)
+        gcs:send_text(6, string.format("RM3100 Mag: X=%8d Y=%8d Z=%8d", MX, MY, MZ))
+    else
+        gcs:send_text(1, "Rm3100 data read transfer failed")
+        return queue_test, 1000
+    end
+
+    -- Loop back to the first function to run another set of tests
+    return queue_test, 1000
+end
+
+return queue_test, 1000
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index dbeca52779..147b77dfa5 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -587,6 +587,7 @@ ap_object AP_HAL::I2CDevice semaphore-pointer
 ap_object AP_HAL::I2CDevice method set_retries void uint8_t 0 20
 ap_object AP_HAL::I2CDevice method write_register boolean uint8_t'skip_check uint8_t'skip_check
 ap_object AP_HAL::I2CDevice manual read_registers AP_HAL__I2CDevice_read_registers 2 1
+ap_object AP_HAL::I2CDevice manual transfer AP_HAL__I2CDevice_transfer 2 1
 ap_object AP_HAL::I2CDevice method set_address void uint8_t'skip_check
 
 include AP_HAL/utility/Socket.h depends (AP_NETWORKING_ENABLED==1)
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index c42f5ac18e..448a52c1b8 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -656,6 +656,33 @@ int AP_HAL__I2CDevice_read_registers(lua_State *L) {
     return success;
 }
 
+int AP_HAL__I2CDevice_transfer(lua_State *L) {
+    binding_argcheck(L, 3);
+
+    AP_HAL::I2CDevice * ud = *check_AP_HAL__I2CDevice(L, 1);
+
+    // Parse string of bytes to send
+    size_t send_len;
+    const uint8_t* send_data = (const uint8_t*)(lua_tolstring(L, 2, &send_len));
+
+    // Parse and setup rx buffer
+    uint32_t rx_len = get_uint8_t(L, 3);
+    uint8_t rx_data[rx_len];
+
+    // Transfer
+    ud->get_semaphore()->take_blocking();
+    const bool success = ud->transfer(send_data, send_len, rx_data, rx_len);
+    ud->get_semaphore()->give();
+
+    if (!success) {
+        return 0;
+    }
+
+    // Return a string
+    lua_pushlstring(L, (const char *)rx_data, rx_len);
+    return 1;
+}
+
 #if AP_SCRIPTING_CAN_SENSOR_ENABLED
 int lua_get_CAN_device(lua_State *L) {
 
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index cf193715c6..1c6a8358c3 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -8,6 +8,7 @@ int lua_mission_receive(lua_State *L);
 int AP_Logger_Write(lua_State *L);
 int lua_get_i2c_device(lua_State *L);
 int AP_HAL__I2CDevice_read_registers(lua_State *L);
+int AP_HAL__I2CDevice_transfer(lua_State *L);
 int lua_get_CAN_device(lua_State *L);
 int lua_get_CAN_device2(lua_State *L);
 int lua_serial_find_serial(lua_State *L);