diff --git a/libraries/AP_Scripting/examples/6DoF_roll_pitch.lua b/libraries/AP_Scripting/examples/6DoF_roll_pitch.lua
new file mode 100644
index 0000000000..c01e82a2d3
--- /dev/null
+++ b/libraries/AP_Scripting/examples/6DoF_roll_pitch.lua
@@ -0,0 +1,60 @@
+-- A script for controlling the roll and pitch of 6DoF vehicles
+-- The script sets the target roll and pitch to the current value when arming or when E-stop is removed
+-- this allows the vehicle to be placed upside-down on the ground and to take off as normal
+-- its is also possible to setup a switch with option 300 to use either 4 or 6DoF control
+
+-- make sure the vehicle is capable of 6DoF control
+assert(param:get('FRAME_CLASS') == 16, "script requires a 6DoF vehicle")
+
+local e_stop = rc:find_channel_for_option(31)
+local sw = rc:find_channel_for_option(300)
+local motors_spinning = false
+
+function update() -- this is the loop which periodically runs
+
+  -- motor state
+  local current_motors_spinning = false
+
+  if arming:is_armed() then
+    -- if armed then motors are spinning
+    current_motors_spinning = true
+  end
+
+  if e_stop then
+    -- if E-stop switch is setup
+    if e_stop:get_aux_switch_pos() == 2 then
+      -- E-stop on, motors stopped
+      current_motors_spinning = false
+    end
+  end
+
+  if not motors_spinning and current_motors_spinning then
+    -- Just armed or removed E-stop
+    -- set offsets to current attitude
+    local roll = math.deg(ahrs:get_roll())
+    local pitch = math.deg(ahrs:get_pitch())
+    attitude_control:set_offset_roll_pitch(roll,pitch)
+    gcs:send_text(0, string.format("Set Offsets Roll: %0.1f, Pitch: %0.1f",roll,pitch))
+
+    if sw then
+      if sw:get_aux_switch_pos() == 2 then
+        -- switch to 'normal' 4 DoF attitude control
+        gcs:send_text(0, "4 DoF attitude control")
+        attitude_control:set_lateral_enable(false)
+        attitude_control:set_forward_enable(false)
+
+      else
+        -- 6DoF attutude control
+        gcs:send_text(0, "6 DoF attitude control")
+        attitude_control:set_lateral_enable(true)
+        attitude_control:set_forward_enable(true)
+      end
+    end
+
+  end
+  motors_spinning = current_motors_spinning
+
+  return update, 100 -- 10hz
+end
+
+return update()
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index f1ab547d58..d8416b3c0e 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -304,7 +304,7 @@ singleton QuadPlane alias quadplane
 singleton QuadPlane depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)
 singleton QuadPlane method in_vtol_mode boolean
 
-include AP_Motors/AP_MotorsMatrix.h
+include AP_Motors/AP_MotorsMatrix.h depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_TYPE(APM_BUILD_ArduCopter)
 singleton AP_MotorsMatrix depends APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_TYPE(APM_BUILD_ArduCopter)
 singleton AP_MotorsMatrix alias MotorsMatrix
 singleton AP_MotorsMatrix method init boolean uint8_t 0 (AP_MOTORS_MAX_NUM_MOTORS-1)
@@ -314,3 +314,11 @@ include AP_Frsky_Telem/AP_Frsky_SPort.h
 singleton AP_Frsky_SPort alias frsky_sport
 singleton AP_Frsky_SPort method sport_telemetry_push boolean uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX uint16_t 0 UINT16_MAX int32_t -INT32_MAX INT32_MAX
 singleton AP_Frsky_SPort method prep_number uint16_t int32_t INT32_MIN INT32_MAX uint8_t 0 UINT8_MAX uint8_t 0 UINT8_MAX
+
+include AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h depends APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+singleton AC_AttitudeControl_Multi_6DoF depends APM_BUILD_TYPE(APM_BUILD_ArduCopter)
+singleton AC_AttitudeControl_Multi_6DoF alias attitude_control
+singleton AC_AttitudeControl_Multi_6DoF method set_lateral_enable void boolean
+singleton AC_AttitudeControl_Multi_6DoF method set_forward_enable void boolean
+singleton AC_AttitudeControl_Multi_6DoF method set_offset_roll_pitch void float -FLT_MAX FLT_MAX float -FLT_MAX FLT_MAX
+