diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 6644ba2e940d9..889ffa089dca4 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -3251,6 +3251,13 @@ function arming:disarm() end
 -- It provides estimates for the vehicles attitude, and position.
 ahrs = {}
 
+-- supply an external position estimate to the AHRS (supported by EKF3)
+---@param location Location_ud -- estimated location, altitude is ignored
+---@param accuracy number -- 1-sigma accuracy in meters
+---@param timestamp_ms uint32_t_ud|integer|number -- timestamp of reading in ms since boot
+---@return boolean -- true if call was handled successfully
+function ahrs:handle_external_position_estimate(location, accuracy, timestamp_ms) end
+
 -- desc
 ---@return Quaternion_ud|nil
 function ahrs:get_quaternion() end
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index 6868e797d7899..30b5be0c766ef 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -61,6 +61,7 @@ singleton AP_AHRS method set_origin boolean Location
 singleton AP_AHRS method initialised boolean
 singleton AP_AHRS method get_posvelyaw_source_set uint8_t
 singleton AP_AHRS method get_quaternion boolean Quaternion'Null
+singleton AP_AHRS method handle_external_position_estimate boolean Location float'skip_check uint32_t'skip_check
 
 include AP_Arming/AP_Arming.h