diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 0d4ac3d3a7d1d7..f31e6a8ebf623a 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -1496,8 +1496,8 @@ ins = {}
 ---@return number
 function ins:get_temperature(instance) end
 
--- Check if a specific gyrometer sensor is healthy
----@param instance integer -- the 0-based index of the gyrometer instance to return.
+-- Check if a specific gyroscope sensor is healthy
+---@param instance integer -- the 0-based index of the gyroscope instance to return.
 ---@return boolean
 function ins:get_gyro_health(instance) end
 
@@ -1506,6 +1506,16 @@ function ins:get_gyro_health(instance) end
 ---@return boolean
 function ins:get_accel_health(instance) end
 
+-- Get the value of a specific gyroscope
+---@param instance integer -- the 0-based index of the gyroscope instance to return.
+---@return Vector3f_ud
+function ins:get_gyro(instance) end
+
+-- Get the value of a specific accelerometer
+---@param instance integer -- the 0-based index of the accelerometer instance to return.
+---@return Vector3f_ud
+function ins:get_accel(instance) end
+
 -- desc
 ---@class Motors_dynamic
 Motors_dynamic = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 0eee97bf20d509..33af2745fcbb79 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -633,6 +633,8 @@ singleton AP_InertialSensor rename ins
 singleton AP_InertialSensor method get_temperature float uint8_t 0 INS_MAX_INSTANCES
 singleton AP_InertialSensor method get_gyro_health boolean uint8_t'skip_check
 singleton AP_InertialSensor method get_accel_health boolean uint8_t'skip_check
+singleton AP_InertialSensor method get_gyro Vector3f uint8_t'skip_check
+singleton AP_InertialSensor method get_accel Vector3f uint8_t'skip_check
 
 singleton CAN manual get_device lua_get_CAN_device 1
 singleton CAN manual get_device2 lua_get_CAN_device2 1