diff --git a/Tools/autotest/ardusub.py b/Tools/autotest/ardusub.py
index 40eb081cfb382..6d234c8ebfd66 100644
--- a/Tools/autotest/ardusub.py
+++ b/Tools/autotest/ardusub.py
@@ -166,6 +166,44 @@ def AltitudeHold(self):
         self.watch_altitude_maintained()
         self.disarm_vehicle()
 
+    def RngfndQuality(self):
+        """Check lua Range Finder quality information flow"""
+        self.context_push()
+        self.context_collect('STATUSTEXT')
+
+        ex = None
+        try:
+            self.set_parameters({
+                "SCR_ENABLE": 1,
+                "RNGFND1_TYPE": 36,
+                "RNGFND1_ORIENT": 25,
+                "RNGFND1_MIN_CM": 10,
+                "RNGFND1_MAX_CM": 5000,
+            })
+
+            self.install_example_script_context("rangefinder_quality_test.lua")
+
+            # These string must match those sent by the lua test script.
+            complete_str = "#complete#"
+            failure_str = "!!failure!!"
+
+            self.reboot_sitl()
+
+            self.wait_statustext(complete_str, timeout=20, check_context=True)
+            found_failure = self.statustext_in_collections(failure_str)
+
+            if found_failure is not None:
+                raise NotAchievedException("RngfndQuality test failed: " + found_failure.text)
+
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        self.context_pop()
+
+        if ex:
+            raise ex
+
     def ModeChanges(self, delta=0.2):
         """Check if alternating between ALTHOLD, STABILIZE and POSHOLD affects altitude"""
         self.wait_ready_to_arm()
@@ -524,6 +562,7 @@ def tests(self):
         ret.extend([
             self.DiveManual,
             self.AltitudeHold,
+            self.RngfndQuality,
             self.PositionHold,
             self.ModeChanges,
             self.DiveMission,
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
index 0809cd516a49a..bd0e9be2945ac 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.cpp
@@ -53,30 +53,39 @@ bool AP_RangeFinder_Backend::has_data() const {
 }
 
 // update status based on distance measurement
-void AP_RangeFinder_Backend::update_status()
+void AP_RangeFinder_Backend::update_status(RangeFinder::RangeFinder_State &state_arg) const
 {
     // check distance
-    if (state.distance_m > max_distance_cm() * 0.01f) {
-        set_status(RangeFinder::Status::OutOfRangeHigh);
-    } else if (state.distance_m < min_distance_cm() * 0.01f) {
-        set_status(RangeFinder::Status::OutOfRangeLow);
+    if (state_arg.distance_m > max_distance_cm() * 0.01f) {
+        set_status(state_arg, RangeFinder::Status::OutOfRangeHigh);
+    } else if (state_arg.distance_m < min_distance_cm() * 0.01f) {
+        set_status(state_arg, RangeFinder::Status::OutOfRangeLow);
     } else {
-        set_status(RangeFinder::Status::Good);
+        set_status(state_arg, RangeFinder::Status::Good);
     }
 }
 
 // set status and update valid count
-void AP_RangeFinder_Backend::set_status(RangeFinder::Status _status)
+void AP_RangeFinder_Backend::set_status(RangeFinder::RangeFinder_State &state_arg, RangeFinder::Status _status)
 {
-    state.status = _status;
+    state_arg.status = _status;
 
     // update valid count
     if (_status == RangeFinder::Status::Good) {
-        if (state.range_valid_count < 10) {
-            state.range_valid_count++;
+        if (state_arg.range_valid_count < 10) {
+            state_arg.range_valid_count++;
         }
     } else {
-        state.range_valid_count = 0;
+        state_arg.range_valid_count = 0;
     }
 }
 
+#if AP_SCRIPTING_ENABLED
+// get a copy of state structure
+void AP_RangeFinder_Backend::get_state(RangeFinder::RangeFinder_State &state_arg)
+{
+    WITH_SEMAPHORE(_sem);
+    state_arg = state;
+}
+#endif
+
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
index 86f487364ba34..ca2decd044e30 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Backend.h
@@ -36,9 +36,11 @@ class AP_RangeFinder_Backend
     virtual void handle_msg(const mavlink_message_t &msg) { return; }
 
 #if AP_SCRIPTING_ENABLED
-    // Returns false if scripting backing hasn't been setup
-    // Get distance from lua script
-    virtual bool handle_script_msg(float dist_m) { return false; }
+    void get_state(RangeFinder::RangeFinder_State &state_arg);
+
+    // Returns false if scripting backing hasn't been setup.
+    virtual bool handle_script_msg(float dist_m) { return false; } // legacy interface
+    virtual bool handle_script_msg(const RangeFinder::RangeFinder_State &state_arg) { return false; }
 #endif
 
 #if HAL_MSP_RANGEFINDER_ENABLED
@@ -80,10 +82,12 @@ class AP_RangeFinder_Backend
 protected:
 
     // update status based on distance measurement
-    void update_status();
+    void update_status(RangeFinder::RangeFinder_State &state_arg) const;
+    void update_status() { update_status(state); }
 
     // set status and update valid_count
-    void set_status(RangeFinder::Status status);
+    static void set_status(RangeFinder::RangeFinder_State &state_arg, RangeFinder::Status status);
+    void set_status(RangeFinder::Status status) { set_status(state, status); }
 
     RangeFinder::RangeFinder_State &state;
     AP_RangeFinder_Params &params;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp
index cd024575136d2..75e22b2aaba5f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.cpp
@@ -24,31 +24,49 @@
 AP_RangeFinder_Lua::AP_RangeFinder_Lua(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
     AP_RangeFinder_Backend(_state, _params)
 {
-    set_status(RangeFinder::Status::NoData);
 }
 
 
-// Set the distance based on a Lua Script
-bool AP_RangeFinder_Lua::handle_script_msg(float dist_m)
+// Process range finder data from a lua driver. The state structure needs to be completely
+// filled in by the lua script. The data passed to this method is copied to a pending_state
+// structure. The update() method periodically copies data from pending_state to state. The get_state()
+// method returns data from state.
+bool AP_RangeFinder_Lua::handle_script_msg(const RangeFinder::RangeFinder_State &state_arg)
 {
-    state.last_reading_ms = AP_HAL::millis();
-    _distance_m = dist_m;
+    WITH_SEMAPHORE(_sem);
+    _state_pending = state_arg;
     return true;
 }
 
+// Process range finder data from a lua driver - legacy interface. This method takes
+// a distance measurement and fills in the pending state structure. In this legacy mode
+// the lua script only passes in a distance measurement and does not manage the rest
+// of the fields in the state structure.
+bool AP_RangeFinder_Lua::handle_script_msg(float dist_m) {
 
-// update the state of the sensor
-void AP_RangeFinder_Lua::update(void)
-{
-    //Time out on incoming data; if we don't get new
-    //data in 500ms, dump it
-    if (AP_HAL::millis() - state.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
-        set_status(RangeFinder::Status::NoData);
-        state.distance_m = 0.0f;
+    const uint32_t now = AP_HAL::millis();
+
+    WITH_SEMAPHORE(_sem);
+
+    // Time out on incoming data; if we don't get new data in 500ms, dump it
+    if (now - _state_pending.last_reading_ms > AP_RANGEFINDER_LUA_TIMEOUT_MS) {
+        set_status(_state_pending, RangeFinder::Status::NoData);
     } else {
-        state.distance_m = _distance_m;
-        update_status();
+        _state_pending.last_reading_ms = now;
+        _state_pending.distance_m = dist_m;
+        _state_pending.signal_quality_pct = RangeFinder::SIGNAL_QUALITY_UNKNOWN;
+        _state_pending.voltage_mv = 0;
+        update_status(_state_pending);
     }
+
+    return true;
+}
+
+// Update the state of the sensor
+void AP_RangeFinder_Lua::update(void)
+{
+    WITH_SEMAPHORE(_sem);
+    state = _state_pending;
 }
 
 #endif  // AP_RANGEFINDER_LUA_ENABLED
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
index 12e5fad3675a2..0bd7f7a1acb6b 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_Lua.h
@@ -21,6 +21,7 @@ class AP_RangeFinder_Lua : public AP_RangeFinder_Backend
 
     // Get update from Lua script
     bool handle_script_msg(float dist_m) override;
+    bool handle_script_msg(const RangeFinder::RangeFinder_State &state_arg) override;
 
     MAV_DISTANCE_SENSOR _get_mav_distance_sensor_type() const override {
         return MAV_DISTANCE_SENSOR_UNKNOWN;
@@ -28,7 +29,7 @@ class AP_RangeFinder_Lua : public AP_RangeFinder_Backend
 
 private:
 
-    float _distance_m;   // stored data from lua script:
+    RangeFinder::RangeFinder_State _state_pending = {};
 };
 
 #endif  // AP_RANGEFINDER_LUA_ENABLED
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 7e3be1f487dba..f11838f758f7f 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -2517,14 +2517,71 @@ function terrain:status() end
 ---@return boolean
 function terrain:enabled() end
 
+
+-- RangeFinder state structure
+---@class RangeFinder_State_ud
+local RangeFinder_State_ud = {}
+
+---@return RangeFinder_State_ud
+function RangeFinder_State() end
+
+-- get system time (ms) of last successful update from sensor
+---@return number
+function RangeFinder_State_ud:last_reading() end
+
+-- set system time (ms) of last successful update from sensor
+---@param value number
+function RangeFinder_State_ud:last_reading(value) end
+
+-- get sensor status
+---@return number
+function RangeFinder_State_ud:status() end
+
+-- set sensor status
+---@param value number
+function RangeFinder_State_ud:status(value) end
+
+-- get number of consecutive valid readings (max out at 10)
+---@return number
+function RangeFinder_State_ud:range_valid_count() end
+
+-- set number of consecutive valid readings (max out at 10)
+---@param value number
+function RangeFinder_State_ud:range_valid_count(value) end
+
+-- get distance in meters
+---@return number
+function RangeFinder_State_ud:distance() end
+
+-- set distance in meters
+---@param value number
+function RangeFinder_State_ud:distance(value) end
+
+-- get measurement quality in percent 0-100, -1 -> quality is unknown
+---@return number
+function RangeFinder_State_ud:signal_quality() end
+
+-- set measurement quality in percent 0-100, -1 -> quality is unknown
+---@param value number
+function RangeFinder_State_ud:signal_quality(value) end
+
+-- get voltage in millivolts, if applicable, otherwise 0
+---@return number
+function RangeFinder_State_ud:voltage() end
+
+-- set voltage in millivolts, if applicable, otherwise 0
+---@param value number
+function RangeFinder_State_ud:voltage(value) end
+
+
 -- RangeFinder backend
 ---@class AP_RangeFinder_Backend_ud
 local AP_RangeFinder_Backend_ud = {}
 
--- Send distance to lua rangefinder backend. Returns false if failed
----@param distance number
+-- Send range finder measurement to lua rangefinder backend. Returns false if failed
+---@param state RangeFinder_State_ud|number
 ---@return boolean
-function AP_RangeFinder_Backend_ud:handle_script_msg(distance) end
+function AP_RangeFinder_Backend_ud:handle_script_msg(state) end
 
 -- Status of this rangefinder instance
 ---@return integer
@@ -2542,6 +2599,15 @@ function AP_RangeFinder_Backend_ud:orientation() end
 ---@return number
 function AP_RangeFinder_Backend_ud:distance() end
 
+-- Current distance measurement signal_quality of the sensor instance
+---@return number
+function AP_RangeFinder_Backend_ud:signal_quality() end
+
+-- State of most recent range finder measurment
+---@return RangeFinder_State_ud
+function AP_RangeFinder_Backend_ud:get_state() end
+
+
 -- desc
 ---@class rangefinder
 rangefinder = {}
@@ -2586,6 +2652,11 @@ function rangefinder:max_distance_cm_orient(orientation) end
 ---@return integer
 function rangefinder:distance_cm_orient(orientation) end
 
+-- Current distance measurement signal quality for range finder at this orientation
+---@param orientation integer
+---@return integer
+function rangefinder:signal_quality_pct_orient(orientation) end
+
 -- desc
 ---@param orientation integer
 ---@return boolean
diff --git a/libraries/AP_Scripting/examples/rangefinder_quality_test.lua b/libraries/AP_Scripting/examples/rangefinder_quality_test.lua
new file mode 100644
index 0000000000000..28c78e7ff2515
--- /dev/null
+++ b/libraries/AP_Scripting/examples/rangefinder_quality_test.lua
@@ -0,0 +1,304 @@
+
+-- This test uses the Range Finder driver interface to simulate Range Finder
+-- hardware and uses the Range Finder client interface to simulate a
+-- client of the driver. The test sends distance data through the driver
+-- interface and validates that it can be read through the client interface.
+
+-- Parameters should be set as follows before this test is loaded.
+-- "RNGFND1_TYPE": 36,
+-- "RNGFND1_ORIENT": 25,
+-- "RNGFND1_MIN_CM": 10,
+-- "RNGFND1_MAX_CM": 5000,
+
+-- UPDATE_PERIOD_MS is the time between when a distance is set and
+-- when it is read. There is a periodic task that copies the set distance to
+-- the state structure that it is read from. If UPDATE_PERIOD_MS is too short this periodic
+-- task might not get a chance to run. A value of 25 seems to be too quick for sub.
+local UPDATE_PERIOD_MS = 50
+local TIMEOUT_MS = 5000
+
+-- These strings must match the strings used by the test driver for interpreting the output from this test.
+local TEST_ID_STR = "RQTL"
+local COMPLETE_STR = "#complete#"
+local SUCCESS_STR = "!!success!!"
+local FAILURE_STR = "!!failure!!"
+
+
+-- Copied from libraries/AP_Math/rotation.h enum Rotation {}.
+local RNGFND_ORIENTATION_DOWN = 25
+local RNGFND_ORIENTATION_FORWARD = 0
+-- Copied from libraries/AP_RangeFinder/AP_RanggeFinder.h enum RangeFinder::Type {}.
+local RNGFND_TYPE_LUA = 36.0
+-- Copied from libraries/AP_RangeFinder/AP_RangeFinder.h enum RangeFinder::Status {}.
+local RNDFND_STATUS_NOT_CONNECTED = 0
+local RNDFND_STATUS_OUT_OF_RANGE_LOW = 2
+local RNDFND_STATUS_OUT_OF_RANGE_HIGH = 3
+local RNDFND_STATUS_GOOD = 4
+-- Copied from libraries/AP_RangeFinder/AP_RangeFinder.h
+local SIGNAL_QUALITY_MIN = 0
+local SIGNAL_QUALITY_MAX = 100
+local SIGNAL_QUALITY_UNKNOWN = -1
+
+-- Read parameters for min and max valid range finder ranges.
+local RNGFND1_MIN_CM = Parameter("RNGFND1_MIN_CM"):get()
+local RNGFND1_MAX_CM = Parameter("RNGFND1_MAX_CM"):get()
+
+local function send(str)
+    gcs:send_text(3, string.format("%s %s", TEST_ID_STR, str))
+end
+
+
+-- The range finder backend is initialized in the update_prepare function.
+---@type AP_RangeFinder_Backend_ud
+local rngfnd_backend
+
+
+local function test_dist_equal(dist_m_in, dist_in_factor, dist_out, signal_quality_pct_in, signal_quality_pct_out)
+    if math.abs(dist_out - dist_m_in * dist_in_factor) > 1.0e-3 then
+        return false
+    end
+    if signal_quality_pct_in < 0 and signal_quality_pct_out == -1 then
+        return true
+    end
+    if signal_quality_pct_in > 100 and signal_quality_pct_out == -1 then
+        return true
+    end
+    if signal_quality_pct_in == signal_quality_pct_out then
+        return true
+    end
+    return false
+end
+
+local function get_and_eval(test_idx, dist_m_in, signal_quality_pct_in, status_expected)
+    local status_actual = rangefinder:status_orient(RNGFND_ORIENTATION_DOWN)
+
+    -- Check that the status is as expected
+    if status_expected ~= status_actual then
+        return string.format("Status test %i status incorrect - expected %i, actual %i", test_idx, status_expected, status_actual)
+    end
+
+    -- Not more checks if the status is poor
+    if status_actual ~= RNDFND_STATUS_GOOD then
+        send(string.format("Status test %i status correct - expected: %i actual: %i", test_idx, status_expected, status_actual))
+        return nil
+    end
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Check that the distance and signal_quality from the frontend are as expected
+    local distance1_cm_out = rangefinder:distance_cm_orient(RNGFND_ORIENTATION_DOWN)
+    local signal_quality1_pct_out = rangefinder:signal_quality_pct_orient(RNGFND_ORIENTATION_DOWN)
+
+    -- Make sure data was returned
+    if not distance1_cm_out or not signal_quality1_pct_out then
+        return "No data returned from rangefinder:distance_cm_orient()"
+    end
+
+    send(string.format("Frontend test %i dist in_m: %.2f out_cm: %.2f, signal_quality_pct in: %.1f out: %.1f",
+        test_idx, dist_m_in, distance1_cm_out, signal_quality_pct_in, signal_quality1_pct_out))
+
+    if not test_dist_equal(dist_m_in, 100.0, distance1_cm_out, signal_quality_pct_in, signal_quality1_pct_out) then
+        return "Frontend expected and actual do not match"
+    end
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Check that the distance and signal_quality from the backend are as expected
+    local disttance2_m_out = rngfnd_backend:distance()
+    local signal_quality2_pct_out = rngfnd_backend:signal_quality()
+
+    send(string.format("Backend test %i dist in_m: %.2f out_m: %.2f, signal_quality_pct in: %.1f out: %.1f",
+        test_idx, dist_m_in, disttance2_m_out, signal_quality_pct_in, signal_quality2_pct_out))
+
+    if not test_dist_equal(dist_m_in, 1.0, disttance2_m_out, signal_quality_pct_in, signal_quality2_pct_out) then
+        return "Backend expected and actual do not match"
+    end
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Check that the state from the backend is as expected
+    local rf_state = rngfnd_backend:get_state()
+    local distance3_m_out = rf_state:distance()
+    local signal_quality3_pct_out = rf_state:signal_quality()
+
+    send(string.format("State test %i dist in_m: %.2f out_m: %.2f, signal_quality_pct in: %.1f out: %.1f",
+        test_idx, dist_m_in, distance3_m_out, signal_quality_pct_in, signal_quality3_pct_out))
+
+    if not test_dist_equal(dist_m_in, 1.0, distance3_m_out, signal_quality_pct_in, signal_quality3_pct_out) then
+        return "State expected and actual do not match"
+    end
+
+    return nil
+end
+
+-- Test various status states
+local function do_status_tests()
+    send("Test initial status")
+    local status_actual = rangefinder:status_orient(RNGFND_ORIENTATION_DOWN)
+    if status_actual ~= RNDFND_STATUS_NOT_CONNECTED then
+        return string.format("DOWN Status '%i' not NOT_CONNECTED on initialization.", status_actual)
+    end
+    status_actual = rangefinder:status_orient(RNGFND_ORIENTATION_FORWARD)
+    if status_actual ~= RNDFND_STATUS_NOT_CONNECTED then
+        return string.format("FORWARD Status '%i' not NOT_CONNECTED on initialization.", status_actual)
+    end
+    return nil
+end
+
+
+local test_data = {
+    {20.0, -1, RNDFND_STATUS_GOOD},
+    {20.5, -2, RNDFND_STATUS_GOOD},
+    {21.0, 0, RNDFND_STATUS_GOOD},
+    {22.0, 50, RNDFND_STATUS_GOOD},
+    {23.0, 100, RNDFND_STATUS_GOOD},
+    {24.0, 101, RNDFND_STATUS_GOOD},
+    {25.0, -3, RNDFND_STATUS_GOOD},
+    {26.0, 127, RNDFND_STATUS_GOOD},
+    {27.0, 3, RNDFND_STATUS_GOOD},
+    {28.0, 100, RNDFND_STATUS_GOOD},
+    {29.0, 99, RNDFND_STATUS_GOOD},
+    {100.0, 100, RNDFND_STATUS_OUT_OF_RANGE_HIGH},
+    {0.0, 100, RNDFND_STATUS_OUT_OF_RANGE_LOW},
+    {100.0, -2, RNDFND_STATUS_OUT_OF_RANGE_HIGH},
+    {0.0, -2, RNDFND_STATUS_OUT_OF_RANGE_LOW},
+}
+
+-- Record the start time so we can timeout if initialization takes too long.
+local time_start_ms = millis():tofloat()
+local test_idx = 0
+
+
+-- Called when tests are completed.
+local function complete(error_str)
+    -- Send a message indicating the success or failure of the test
+    local status_str
+    if not error_str or #error_str == 0 then
+        status_str = SUCCESS_STR
+    else
+        send(error_str)
+        status_str = FAILURE_STR
+    end
+    send(string.format("%s: %s", COMPLETE_STR, status_str))
+
+    -- Returning nil will not queue an update routine so the test will stop running.
+end
+
+
+-- A state machine of update functions. The states progress:
+--  prepare, wait, begin_test, eval_test, begin_test, eval_test, ... complete
+
+local update_prepare
+local update_wait
+local update_begin_test
+local update_eval_test
+
+local function _update_prepare()
+    if Parameter('RNGFND1_TYPE'):get() ~= RNGFND_TYPE_LUA then
+        return complete("LUA range finder driver not enabled")
+    end
+    if rangefinder:num_sensors() < 1 then
+        return complete("LUA range finder driver not connected")
+    end
+    rngfnd_backend = rangefinder:get_backend(0)
+    if not rngfnd_backend then
+        return complete("Range Finder 1 does not exist")
+    end
+    if (rngfnd_backend:type() ~= RNGFND_TYPE_LUA) then
+        return complete("Range Finder 1 is not a LUA driver")
+    end
+
+    return update_wait()
+end
+
+local function _update_wait()
+    -- Check for timeout while initializing
+    if millis():tofloat() - time_start_ms > TIMEOUT_MS then
+        return complete("Timeout while trying to initialize")
+    end
+
+    -- Wait until the prearm check passes. This ensures that the system is mostly initialized
+    -- before starting the tests.
+    if not arming:pre_arm_checks() then
+        return update_wait, UPDATE_PERIOD_MS
+    end
+
+    -- Do some one time tests
+    local error_str = do_status_tests()
+    if error_str then
+        return complete(error_str)
+    end
+
+    -- Continue on to the main list of tests.
+    return update_begin_test()
+end
+
+local function _update_begin_test()
+    test_idx = test_idx + 1
+    if test_idx > #test_data then
+        return complete()
+    end
+
+    local dist_m_in = test_data[test_idx][1]
+    local signal_quality_pct_in = test_data[test_idx][2]
+
+    -- L U A   I N T E R F A C E   T E S T
+    -- Use the driver interface to simulate a data measurement being received and being passed to AP.
+    local result
+    -- -2 => use legacy interface
+    if signal_quality_pct_in == -2 then
+        result = rngfnd_backend:handle_script_msg(dist_m_in) -- number as arg (compatibility mode)
+
+    else
+        -- The full state udata must be initialized.
+        local rf_state = RangeFinder_State()
+        -- Set the status
+        if dist_m_in < RNGFND1_MIN_CM * 0.01 then
+            rf_state:status(RNDFND_STATUS_OUT_OF_RANGE_LOW)
+        elseif dist_m_in > RNGFND1_MAX_CM * 0.01 then
+            rf_state:status(RNDFND_STATUS_OUT_OF_RANGE_HIGH)
+        else
+            rf_state:status(RNDFND_STATUS_GOOD)
+        end
+        -- Sanitize signal_quality_pct_in
+        if signal_quality_pct_in < SIGNAL_QUALITY_MIN or signal_quality_pct_in > SIGNAL_QUALITY_MAX then
+            signal_quality_pct_in = SIGNAL_QUALITY_UNKNOWN
+        end
+        rf_state:last_reading(millis():toint())
+        rf_state:range_valid_count(10)
+        rf_state:distance(dist_m_in)
+        rf_state:signal_quality(signal_quality_pct_in)
+        rf_state:voltage(0)
+        result = rngfnd_backend:handle_script_msg(rf_state) -- state as arg
+    end
+
+    if not result then
+        return complete(string.format("Test %i, dist_m: %.2f, quality_pct: %3i failed to handle_script_msg2",
+            test_idx, dist_m_in, signal_quality_pct_in))
+    end
+
+    return update_eval_test, UPDATE_PERIOD_MS
+end
+
+local function _update_eval_test()
+    local dist_m_in = test_data[test_idx][1]
+    local signal_quality_pct_in = test_data[test_idx][2]
+    local status_expected = test_data[test_idx][3]
+
+    -- Use the client interface to get distance data and ensure it matches the distance data
+    -- that was sent through the driver interface.
+    local error_str = get_and_eval(test_idx, dist_m_in, signal_quality_pct_in, status_expected)
+    if error_str then
+        return complete(string.format("Test %i, dist_m: %.2f, quality_pct: %3i failed because %s",
+            test_idx, dist_m_in, signal_quality_pct_in, error_str))
+    end
+
+    -- Move to the next test in the list.
+    return update_begin_test()
+end
+
+update_prepare = _update_prepare
+update_wait = _update_wait
+update_begin_test = _update_begin_test
+update_eval_test = _update_eval_test
+
+send("Loaded rangefinder_quality_test.lua")
+
+return update_prepare, 0
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 94557841c84a0..62406fbf30f9c 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -198,18 +198,35 @@ singleton AP_Proximity method get_backend AP_Proximity_Backend uint8_t'skip_chec
 include AP_RangeFinder/AP_RangeFinder.h
 include AP_RangeFinder/AP_RangeFinder_Backend.h
 
+userdata RangeFinder::RangeFinder_State depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
+userdata RangeFinder::RangeFinder_State rename RangeFinder_State
+userdata RangeFinder::RangeFinder_State field last_reading_ms uint32_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field last_reading_ms rename last_reading
+userdata RangeFinder::RangeFinder_State field status RangeFinder::Status'enum read write RangeFinder::Status::NotConnected RangeFinder::Status::Good
+userdata RangeFinder::RangeFinder_State field range_valid_count uint8_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field distance_m float'skip_check read write
+userdata RangeFinder::RangeFinder_State field distance_m rename distance
+userdata RangeFinder::RangeFinder_State field signal_quality_pct int8_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field signal_quality_pct rename signal_quality
+userdata RangeFinder::RangeFinder_State field voltage_mv uint16_t'skip_check read write
+userdata RangeFinder::RangeFinder_State field voltage_mv rename voltage
+
 ap_object AP_RangeFinder_Backend depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
 ap_object AP_RangeFinder_Backend method distance float
+ap_object AP_RangeFinder_Backend method signal_quality_pct float
+ap_object AP_RangeFinder_Backend method signal_quality_pct rename signal_quality
 ap_object AP_RangeFinder_Backend method orientation Rotation'enum
 ap_object AP_RangeFinder_Backend method type uint8_t
 ap_object AP_RangeFinder_Backend method status uint8_t
-ap_object AP_RangeFinder_Backend method handle_script_msg boolean float'skip_check
+ap_object AP_RangeFinder_Backend manual handle_script_msg lua_range_finder_handle_script_msg 1
+ap_object AP_RangeFinder_Backend method get_state void RangeFinder::RangeFinder_State'Ref
 
 singleton RangeFinder depends (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
 singleton RangeFinder rename rangefinder
 singleton RangeFinder method num_sensors uint8_t
 singleton RangeFinder method has_orientation boolean Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
+singleton RangeFinder method signal_quality_pct_orient int8_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method max_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method min_distance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
 singleton RangeFinder method ground_clearance_cm_orient uint16_t Rotation'enum ROTATION_NONE ROTATION_MAX-1
diff --git a/libraries/AP_Scripting/lua_bindings.cpp b/libraries/AP_Scripting/lua_bindings.cpp
index a8637ed380547..eb884eb275cd8 100644
--- a/libraries/AP_Scripting/lua_bindings.cpp
+++ b/libraries/AP_Scripting/lua_bindings.cpp
@@ -950,4 +950,30 @@ int lua_print(lua_State *L) {
     return 0;
 }
 
+#if (!defined(HAL_BUILD_AP_PERIPH) || defined(HAL_PERIPH_ENABLE_RANGEFINDER))
+int lua_range_finder_handle_script_msg(lua_State *L) {
+    // Arg 1 => self (an instance of rangefinder_backend)
+    // Arg 2 => a float distance or a RangeFinder_State user data
+    binding_argcheck(L, 2);
+
+    // check_AP_RangeFinder_Backend aborts if not found. No need to check for null
+    AP_RangeFinder_Backend * ud = *check_AP_RangeFinder_Backend(L, 1);
+
+    bool result = false;
+
+    // Check to see if the first argument is the state structure.
+    const void *state_arg = luaL_testudata(L, 2, "RangeFinder_State");
+    if (state_arg != nullptr) {
+        result = ud->handle_script_msg(*static_cast<const RangeFinder::RangeFinder_State *>(state_arg));
+
+    } else {
+        // Otherwise assume the argument is a number and set the measurement.
+        result = ud->handle_script_msg(luaL_checknumber(L, 2));
+    }
+
+    lua_pushboolean(L, result);
+    return 1;
+}
+#endif
+
 #endif  // AP_SCRIPTING_ENABLED
diff --git a/libraries/AP_Scripting/lua_bindings.h b/libraries/AP_Scripting/lua_bindings.h
index 99e4f8a374772..add40faa0a7bd 100644
--- a/libraries/AP_Scripting/lua_bindings.h
+++ b/libraries/AP_Scripting/lua_bindings.h
@@ -26,3 +26,4 @@ int lua_mavlink_register_rx_msgid(lua_State *L);
 int lua_mavlink_send_chan(lua_State *L);
 int lua_mavlink_block_command(lua_State *L);
 int lua_print(lua_State *L);
+int lua_range_finder_handle_script_msg(lua_State *L);