diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 1197c502c8..0a689dd344 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -2830,9 +2830,21 @@ function vehicle:set_crosstrack_start(new_start_location) end
 ---@param number integer -- mode number to use, should be over 100
 ---@param full_name string -- Full mode name
 ---@param short_name string -- Short mode name upto 4 characters
----@return boolean -- true if successful
+---@return AP_Vehicle__custom_mode_state_ud|nil -- Returns custom mode state which allows customisation of behavior, nil if mode register fails
 function vehicle:register_custom_mode(number, full_name, short_name) end
 
+-- Custom mode state, allows customisation of mode behavior
+---@class (exact) AP_Vehicle__custom_mode_state_ud
+local AP_Vehicle__custom_mode_state_ud = {}
+
+-- get allow_entry, if true the vehicle is allowed to enter this custom mode
+---@return boolean
+function AP_Vehicle__custom_mode_state_ud:allow_entry() end
+
+-- set allow_entry, if true the vehicle is allowed to enter this custom mode
+---@param value boolean
+function AP_Vehicle__custom_mode_state_ud:allow_entry(value) end
+
 -- desc
 onvif = {}
 
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 234b2dbd78..0a2653a55b 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -309,6 +309,9 @@ singleton AP_ONVIF method set_absolutemove boolean float'skip_check float'skip_c
 singleton AP_ONVIF method get_pan_tilt_limit_min Vector2f
 singleton AP_ONVIF method get_pan_tilt_limit_max Vector2f
 
+ap_object AP_Vehicle::custom_mode_state depends (!defined(HAL_BUILD_AP_PERIPH))
+ap_object AP_Vehicle::custom_mode_state field allow_entry boolean read write
+
 include AP_Vehicle/AP_Vehicle.h
 singleton AP_Vehicle depends (!defined(HAL_BUILD_AP_PERIPH))
 singleton AP_Vehicle rename vehicle
@@ -352,7 +355,7 @@ singleton AP_Vehicle method reboot void boolean
 singleton AP_Vehicle method is_landing boolean
 singleton AP_Vehicle method is_taking_off boolean
 singleton AP_Vehicle method set_crosstrack_start boolean Location
-singleton AP_Vehicle method register_custom_mode boolean uint8_t'skip_check string string
+singleton AP_Vehicle method register_custom_mode AP_Vehicle::custom_mode_state uint8_t'skip_check string string
 
 
 include AP_SerialLED/AP_SerialLED.h