diff --git a/libraries/AP_Scripting/AP_Scripting.cpp b/libraries/AP_Scripting/AP_Scripting.cpp
index 93cd4e9e96..525eaf14b7 100644
--- a/libraries/AP_Scripting/AP_Scripting.cpp
+++ b/libraries/AP_Scripting/AP_Scripting.cpp
@@ -206,6 +206,30 @@ void AP_Scripting::thread(void) {
     gcs().send_text(MAV_SEVERITY_CRITICAL, "Scripting has stopped");
 }
 
+void AP_Scripting::handle_mission_command(const AP_Mission::Mission_Command& cmd_in)
+{
+    if (!_enable) {
+        return;
+    }
+
+    if (mission_data == nullptr) {
+        // load buffer
+        mission_data = new ObjectBuffer<struct AP_Scripting::scripting_mission_cmd>(mission_cmd_queue_size);
+        if (mission_data == nullptr) {
+            gcs().send_text(MAV_SEVERITY_INFO, "scripting: unable to receive mission command");
+            return;
+        }
+    }
+
+    struct scripting_mission_cmd cmd {cmd_in.p1,
+                                      cmd_in.content.scripting.p1,
+                                      cmd_in.content.scripting.p2,
+                                      cmd_in.content.scripting.p3,
+                                      AP_HAL::millis()};
+
+    mission_data->push(cmd);
+}
+
 AP_Scripting *AP_Scripting::_singleton = nullptr;
 
 namespace AP {
diff --git a/libraries/AP_Scripting/AP_Scripting.h b/libraries/AP_Scripting/AP_Scripting.h
index 29cbcd6f35..54ab39e4fb 100644
--- a/libraries/AP_Scripting/AP_Scripting.h
+++ b/libraries/AP_Scripting/AP_Scripting.h
@@ -46,6 +46,8 @@ public:
 
     MAV_RESULT handle_command_int_packet(const mavlink_command_int_t &packet);
 
+    void handle_mission_command(const AP_Mission::Mission_Command& cmd);
+
    // User parameters for inputs into scripts 
    AP_Float _user[4]; 
 
@@ -65,6 +67,17 @@ public:
     uint8_t num_i2c_devices;
     AP_HAL::OwnPtr<AP_HAL::I2CDevice> *_i2c_dev[SCRIPTING_MAX_NUM_I2C_DEVICE];
 
+    // mission item buffer
+    static const int mission_cmd_queue_size = 5;
+    struct scripting_mission_cmd {
+        uint16_t p1;
+        float content_p1;
+        float content_p2;
+        float content_p3;
+        uint32_t time_ms;
+    };
+    ObjectBuffer<struct scripting_mission_cmd> * mission_data;
+
 private:
 
     bool repl_start(void);
diff --git a/libraries/AP_Scripting/examples/Mission_test.lua b/libraries/AP_Scripting/examples/Mission_test.lua
index b918bca414..d72593e357 100644
--- a/libraries/AP_Scripting/examples/Mission_test.lua
+++ b/libraries/AP_Scripting/examples/Mission_test.lua
@@ -4,6 +4,12 @@ local last_mission_index = mission:get_current_nav_index()
 
 function update() -- this is the loop which periodically runs
 
+  -- check for scripting DO commands in the mission
+  local time_ms, param1, param2, param3, param4 = mission_receive()
+  if time_ms then
+    gcs:send_text(0, string.format("Scripting CMD @ %u ms, %i, %0.2f, %0.2f, %0.2f", time_ms:tofloat(), param1, param2, param3, param4))
+  end
+
   local mission_state = mission:state()
 
   -- make sure the mission is running
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index 15a6394b2b..e5bdfcc97a 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -47,10 +47,39 @@ static int lua_micros(lua_State *L) {
     return 1;
 }
 
+static int lua_mission_receive(lua_State *L) {
+    check_arguments(L, 0, "mission_receive");
+
+    ObjectBuffer<struct AP_Scripting::scripting_mission_cmd> *input = AP::scripting()->mission_data;
+
+    if (input == nullptr) {
+        // no mission items ever received
+        return 0;
+    }
+
+    struct AP_Scripting::scripting_mission_cmd cmd;
+
+    if (!input->pop(cmd)) {
+        // no new item
+        return 0;
+    }
+
+    new_uint32_t(L);
+    *check_uint32_t(L, -1) = cmd.time_ms;
+
+    lua_pushinteger(L, cmd.p1);
+    lua_pushnumber(L, cmd.content_p1);
+    lua_pushnumber(L, cmd.content_p2);
+    lua_pushnumber(L, cmd.content_p3);
+
+    return 5;
+}
+
 static const luaL_Reg global_functions[] =
 {
     {"millis", lua_millis},
     {"micros", lua_micros},
+    {"mission_receive", lua_mission_receive},
     {NULL, NULL}
 };