diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index b2bbb4b7b0..25f5552b3a 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3723,6 +3723,22 @@ AR_AttitudeControl = {}
 ---@return number -- spees slew rate
 function AR_AttitudeControl:get_srate() end
 
+-- copter position controller
+poscontrol = {}
+
+-- add an offset to position controller's target position, velocity and acceleration
+---@param pos_offset_NED Vector3f_ud
+---@param vel_offset_NED Vector3f_ud
+---@param accel_offset_NED Vector3f_ud
+---@return boolean
+function poscontrol:set_posvelaccel_offset(pos_offset_NED, vel_offset_NED, accel_offset_NED) end
+
+-- get position controller's target position, velocity and acceleration offsets
+---@return Vector3f_ud|nil
+---@return Vector3f_ud|nil
+---@return Vector3f_ud|nil
+function poscontrol:get_posvelaccel_offset() end
+
 -- desc
 AR_PosControl = {}
 
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 5a1b52817c..59b356065b 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -759,6 +759,12 @@ include AC_AttitudeControl/AC_AttitudeControl.h depends APM_BUILD_TYPE(APM_BUILD
 singleton AC_AttitudeControl depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
 singleton AC_AttitudeControl method get_rpy_srate void float'Ref float'Ref float'Ref
 
+include AC_AttitudeControl/AC_PosControl.h depends APM_BUILD_COPTER_OR_HELI
+singleton AC_PosControl depends APM_BUILD_COPTER_OR_HELI
+singleton AC_PosControl rename poscontrol
+singleton AC_PosControl method set_posvelaccel_offset boolean Vector3f Vector3f Vector3f
+singleton AC_PosControl method get_posvelaccel_offset boolean Vector3f'Null Vector3f'Null Vector3f'Null
+
 include APM_Control/AR_AttitudeControl.h depends APM_BUILD_TYPE(APM_BUILD_Rover)
 singleton AR_AttitudeControl depends APM_BUILD_TYPE(APM_BUILD_Rover)
 singleton AR_AttitudeControl method get_srate void float'Ref float'Ref