diff --git a/libraries/AP_Motors/AP_Motors6DOF.h b/libraries/AP_Motors/AP_Motors6DOF.h
index fc6417db2c..14ed738fa9 100644
--- a/libraries/AP_Motors/AP_Motors6DOF.h
+++ b/libraries/AP_Motors/AP_Motors6DOF.h
@@ -29,8 +29,6 @@ public:
         SUB_FRAME_CUSTOM
     } sub_frame_t;
 
-    const char* get_frame_string() const override { return _frame_class_string; };
-
     // Override parent
     void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override;
 
diff --git a/libraries/AP_Motors/AP_MotorsCoax.h b/libraries/AP_Motors/AP_MotorsCoax.h
index d02e3bcd98..e3b240b438 100644
--- a/libraries/AP_Motors/AP_MotorsCoax.h
+++ b/libraries/AP_Motors/AP_MotorsCoax.h
@@ -49,8 +49,6 @@ public:
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     uint16_t            get_motor_mask() override;
 
-    const char* get_frame_string() const override { return "COAX"; }
-
 protected:
     // output - sends commands to the motors
     void                output_armed_stabilizing() override;
@@ -58,4 +56,6 @@ protected:
     float               _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
     float               _thrust_yt_ccw;
     float               _thrust_yt_cw;
+
+    const char* _get_frame_string() const override { return "COAX"; }
 };
diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index b1492db9dd..4467229977 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -159,8 +159,6 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-    const char* get_frame_string() const override { return "HELI"; }
-
 protected:
 
     // manual servo modes (used for setup)
@@ -227,6 +225,8 @@ protected:
     // updates the takeoff collective flag indicating that current collective is greater than collective required to indicate takeoff.
     void update_takeoff_collective_flag(float coll_out);
 
+    const char* _get_frame_string() const override { return "HELI"; }
+
     // enum values for HOVER_LEARN parameter
     enum HoverLearn {
         HOVER_LEARN_DISABLED = 0,
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.h b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
index e8274d71a5..641e28a76d 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.h
@@ -95,8 +95,6 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-    const char* get_frame_string() const override { return "HELI_DUAL"; }
-
 protected:
 
     // init_outputs
@@ -111,6 +109,8 @@ protected:
     // move_actuators - moves swash plate to attitude of parameters passed in
     void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out)  override;
 
+    const char* _get_frame_string() const override { return "HELI_DUAL"; }
+
     //  objects we depend upon
     AP_MotorsHeli_Swash        _swashplate1;        // swashplate1
     AP_MotorsHeli_Swash        _swashplate2;        // swashplate2
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.h b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
index e84ceccd08..89c8d24936 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.h
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.h
@@ -74,8 +74,6 @@ public:
     // var_info for holding Parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
-    const char* get_frame_string() const override { return "HELI_QUAD"; }
-
 protected:
 
     // init_outputs
@@ -90,6 +88,8 @@ protected:
     // move_actuators - moves swash plate to attitude of parameters passed in
     void move_actuators(float roll_out, float pitch_out, float coll_in, float yaw_out)  override;
 
+    const char* _get_frame_string() const override { return "HELI_QUAD"; }
+
     // rate factors
     float _rollFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
     float _pitchFactor[AP_MOTORS_HELI_QUAD_NUM_MOTORS];
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.h b/libraries/AP_Motors/AP_MotorsMatrix.h
index 26db4bc779..4a355d0530 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.h
+++ b/libraries/AP_Motors/AP_MotorsMatrix.h
@@ -76,9 +76,6 @@ public:
     // return the pitch factor of any motor
     float               get_pitch_factor(uint8_t i) override { return _pitch_factor[i]; }
 
-    const char*         get_frame_string() const override { return _frame_class_string; }
-    const char*         get_type_string() const override { return _frame_type_string; }
-
     // disable the use of motor torque to control yaw. Used when an external mechanism such
     // as vectoring is used for yaw control
     void                disable_yaw_torque(void) override;
@@ -134,6 +131,9 @@ protected:
     // call vehicle supplied thrust compensation if set
     void                thrust_compensation(void) override;
 
+    const char*         _get_frame_string() const override { return _frame_class_string; }
+    const char*         get_type_string() const override { return _frame_type_string; }
+
     float               _roll_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to roll
     float               _pitch_factor[AP_MOTORS_MAX_NUM_MOTORS]; // each motors contribution to pitch
     float               _yaw_factor[AP_MOTORS_MAX_NUM_MOTORS];  // each motors contribution to yaw (normally 1 or -1)
diff --git a/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.h b/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.h
index 1a3cc9f307..86b973b093 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.h
+++ b/libraries/AP_Motors/AP_MotorsMatrix_6DoF_Scripting.h
@@ -37,8 +37,6 @@ public:
     // if the expected number of motors have been setup then set as initalized
     bool init(uint8_t expected_num_motors) override;
 
-    const char* get_frame_string() const override { return "6DoF scripting"; }
-
 protected:
     // output - sends commands to the motors
     void output_armed_stabilizing() override;
@@ -46,6 +44,8 @@ protected:
     // nothing to do for setup, scripting will mark as initalized when done
     void setup_motors(motor_frame_class frame_class, motor_frame_type frame_type) override {};
 
+    const char* _get_frame_string() const override { return "6DoF scripting"; }
+
     float _forward_factor[AP_MOTORS_MAX_NUM_MOTORS];      // each motors contribution to forward thrust
     float _right_factor[AP_MOTORS_MAX_NUM_MOTORS];        // each motors contribution to right thrust
 
diff --git a/libraries/AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h b/libraries/AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h
index c6373a64fc..70879d0040 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h
+++ b/libraries/AP_Motors/AP_MotorsMatrix_Scripting_Dynamic.h
@@ -43,14 +43,14 @@ public:
     // output - sends commands to the motors
     void output_to_motors() override;
 
-    const char* get_frame_string() const override { return "Dynamic Matrix"; }
-
 protected:
 
     // Do not apply thrust compensation, this is used by Quadplane tiltrotors
     // assume the compensation is done in the mixer and should not be done by quadplane
     void thrust_compensation(void) override {};
 
+    const char* _get_frame_string() const override { return "Dynamic Matrix"; }
+
 private:
 
     // True when received a factors table, will only init having received a table
diff --git a/libraries/AP_Motors/AP_MotorsSingle.h b/libraries/AP_Motors/AP_MotorsSingle.h
index 32317e9a10..65b5389ea7 100644
--- a/libraries/AP_Motors/AP_MotorsSingle.h
+++ b/libraries/AP_Motors/AP_MotorsSingle.h
@@ -49,12 +49,12 @@ public:
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     uint16_t            get_motor_mask() override;
 
-    const char* get_frame_string() const override { return "SINGLE"; }
-
 protected:
     // output - sends commands to the motors
     void                output_armed_stabilizing() override;
 
+    const char* _get_frame_string() const override { return "SINGLE"; }
+
     int16_t             _throttle_radio_output;   // total throttle pwm value, summed onto throttle channel minimum, typically ~1100-1900
     float               _actuator_out[NUM_ACTUATORS]; // combined roll, pitch, yaw and throttle outputs to motors in 0~1 range
     float               _thrust_out;
diff --git a/libraries/AP_Motors/AP_MotorsTailsitter.h b/libraries/AP_Motors/AP_MotorsTailsitter.h
index bf9f8a322d..d00b7815f8 100644
--- a/libraries/AP_Motors/AP_MotorsTailsitter.h
+++ b/libraries/AP_Motors/AP_MotorsTailsitter.h
@@ -33,12 +33,12 @@ public:
     //  this can be used to ensure other pwm outputs (i.e. for servos) do not conflict
     uint16_t get_motor_mask() override;
 
-    const char* get_frame_string() const override { return "TAILSITTER"; }
-
 protected:
     // calculate motor outputs
     void output_armed_stabilizing() override;
 
+    const char* _get_frame_string() const override { return "TAILSITTER"; }
+
     // calculated outputs
     float _throttle; // 0..1
     float _tilt_left;  // -1..1
diff --git a/libraries/AP_Motors/AP_MotorsTri.h b/libraries/AP_Motors/AP_MotorsTri.h
index df3a0b895e..880377268b 100644
--- a/libraries/AP_Motors/AP_MotorsTri.h
+++ b/libraries/AP_Motors/AP_MotorsTri.h
@@ -54,15 +54,15 @@ public:
     // using copter motors for forward flight
     float               get_roll_factor(uint8_t i) override;
 
-    const char* get_frame_string() const override { return "TRI"; }
-
 protected:
     // output - sends commands to the motors
     void                output_armed_stabilizing() override;
 
     // call vehicle supplied thrust compensation if set
     void                thrust_compensation(void) override;
-    
+
+    const char* _get_frame_string() const override { return "TRI"; }
+
     // parameters
 
     float           _pivot_angle;                       // Angle of yaw pivot
diff --git a/libraries/AP_Motors/AP_Motors_Class.cpp b/libraries/AP_Motors/AP_Motors_Class.cpp
index fb358031be..87ecf3b641 100644
--- a/libraries/AP_Motors/AP_Motors_Class.cpp
+++ b/libraries/AP_Motors/AP_Motors_Class.cpp
@@ -52,7 +52,11 @@ void AP_Motors::get_frame_and_type_string(char *buffer, uint8_t buflen) const
 {
     const char *frame_str = get_frame_string();
     const char *type_str = get_type_string();
-    if (type_str != nullptr && strlen(type_str)) {
+    if (type_str != nullptr && strlen(type_str)
+#if AP_SCRIPTING_ENABLED
+        && custom_frame_string == nullptr
+#endif
+    ) {
         hal.util->snprintf(buffer, buflen, "Frame: %s/%s", frame_str, type_str);
     } else {
         hal.util->snprintf(buffer, buflen, "Frame: %s", frame_str);
@@ -227,6 +231,31 @@ bool AP_Motors::is_digital_pwm_type() const
     return false;
 }
 
+// return string corresponding to frame_class
+const char* AP_Motors::get_frame_string() const
+{
+#if AP_SCRIPTING_ENABLED
+    if (custom_frame_string != nullptr) {
+        return custom_frame_string;
+    }
+#endif
+    return _get_frame_string();
+}
+
+#if AP_SCRIPTING_ENABLED
+// set custom frame string
+void AP_Motors::set_frame_string(const char * str) {
+    if (custom_frame_string != nullptr) {
+        return;
+    }
+    const size_t len = strlen(str)+1;
+    custom_frame_string = new char[len];
+    if (custom_frame_string != nullptr) {
+        strncpy(custom_frame_string, str, len);
+    }
+}
+#endif
+
 namespace AP {
     AP_Motors *motors()
     {
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 37f8d2afaa..524f9ff81b 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -73,7 +73,7 @@ public:
     };
 
     // return string corresponding to frame_class
-    virtual const char* get_frame_string() const = 0;
+    const char* get_frame_string() const;
 
     enum motor_frame_type {
         MOTOR_FRAME_TYPE_PLUS = 0,
@@ -95,8 +95,6 @@ public:
         MOTOR_FRAME_TYPE_Y4 = 19, //Y4 Quadrotor frame
     };
 
-    // return string corresponding to frame_type
-    virtual const char* get_type_string() const { return ""; }
 
     // returns a formatted string into buffer, e.g. "QUAD/X"
     void get_frame_and_type_string(char *buffer, uint8_t buflen) const;
@@ -256,6 +254,10 @@ public:
     // direct motor write
     virtual void        rc_write(uint8_t chan, uint16_t pwm);
 
+#if AP_SCRIPTING_ENABLED
+    void set_frame_string(const char * str);
+#endif
+
 protected:
     // output functions that should be overloaded by child classes
     virtual void        output_armed_stabilizing() = 0;
@@ -331,6 +333,17 @@ protected:
                     PWM_TYPE_DSHOT1200  = 7,
                     PWM_TYPE_PWM_RANGE  = 8 };
 
+    // return string corresponding to frame_class
+    virtual const char* _get_frame_string() const = 0;
+
+    // return string corresponding to frame_type
+    virtual const char* get_type_string() const { return ""; }
+
+#if AP_SCRIPTING_ENABLED
+    // Custom frame string set from scripting
+    char* custom_frame_string;
+#endif
+
 private:
 
     bool _armed;             // 0 if disarmed, 1 if armed
diff --git a/libraries/AP_Motors/examples/expo_inverse_test/expo_inverse_test.cpp b/libraries/AP_Motors/examples/expo_inverse_test/expo_inverse_test.cpp
index 00da1a15f6..f4aa6bd569 100644
--- a/libraries/AP_Motors/examples/expo_inverse_test/expo_inverse_test.cpp
+++ b/libraries/AP_Motors/examples/expo_inverse_test/expo_inverse_test.cpp
@@ -39,7 +39,7 @@ public:
     void init(motor_frame_class frame_class, motor_frame_type frame_type) override {};
     void set_frame_class_and_type(motor_frame_class frame_class, motor_frame_type frame_type) override {};
     void output_test_seq(uint8_t motor_seq, int16_t pwm) override {};
-    const char* get_frame_string() const override { return "TEST"; }
+    const char* _get_frame_string() const override { return "TEST"; }
     void output_armed_stabilizing() override {};
     void output_to_motors() override {};