diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 8a8f3cab5b..c9129ca5a2 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -1,5 +1,6 @@
 #include <AP_Common/AP_Common.h>
 #include <GCS_MAVLink/GCS.h>
+#include <SRV_Channel/SRV_Channel.h>
 
 #include "lua_bindings.h"
 
@@ -15,9 +16,37 @@ static const luaL_Reg gcs_functions[] =
     {NULL, NULL}
 };
 
+int lua_servo_set_output_pwm(lua_State *state) {
+    int servo_function = luaL_checkinteger(state, 1);
+    int output_value = luaL_checknumber(state, 2);
+
+    // range check the output function
+    if ((servo_function < SRV_Channel::Aux_servo_function_t::k_scripting1) ||
+        (servo_function > SRV_Channel::Aux_servo_function_t::k_scripting16)) {
+        return luaL_error(state, "Servo function (%d) is not a scriptable output", servo_function);
+    }
+
+    if (output_value > UINT16_MAX) {
+        return luaL_error(state, "Servo range (%d) is out of range", output_value);
+    }
+
+    SRV_Channels::set_output_pwm((SRV_Channel::Aux_servo_function_t)servo_function, output_value);
+
+    gcs().send_text(MAV_SEVERITY_INFO, "Set to %d", output_value);
+    return 0;
+}
+
+static const luaL_Reg servo_functions[] =
+{
+    {"set_output_pwm", lua_servo_set_output_pwm},
+    {NULL, NULL}
+};
+
 void load_lua_bindings(lua_State *state) {
     luaL_newlib(state, gcs_functions);
     lua_setglobal(state, "gcs");
+    luaL_newlib(state, servo_functions);
+    lua_setglobal(state, "servo");
 }
 
 void hook(lua_State *L, lua_Debug *ar) {
diff --git a/libraries/AP_Scripting/scripts/sandbox.lua b/libraries/AP_Scripting/scripts/sandbox.lua
index 22a777cbb2..4124a124c3 100644
--- a/libraries/AP_Scripting/scripts/sandbox.lua
+++ b/libraries/AP_Scripting/scripts/sandbox.lua
@@ -27,6 +27,9 @@ function get_sandbox_env ()
           utf8 = { char = utf8.char, charpattern = utf8.charpattern, codes = utf8.codes,
                    codepoint = utf8.codepoint, len = utf8.len, offsets = utf8.offsets},
           os = { clock = os.clock, difftime = os.difftime, time = os.time },
+
+          -- ArduPilot specific
           gcs = { send_text = gcs.send_text},
+          servo = { set_output_pwm = servo.set_output_pwm},
         }
 end