diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index c6d3213760..07cfd86f12 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -16,6 +16,7 @@ userdata Location method get_vector_from_origin_NEU boolean Vector3f
 include AP_AHRS/AP_AHRS.h
 
 singleton AP_AHRS alias ahrs
+singleton AP_AHRS semaphore
 singleton AP_AHRS method get_position boolean Location'Null
 singleton AP_AHRS method get_home Location
 singleton AP_AHRS method get_gyro Vector3f
diff --git a/libraries/AP_Scripting/generator/src/main.c b/libraries/AP_Scripting/generator/src/main.c
index d27f1fd0e2..309886ab81 100644
--- a/libraries/AP_Scripting/generator/src/main.c
+++ b/libraries/AP_Scripting/generator/src/main.c
@@ -14,6 +14,7 @@ char keyword_include[]   = "include";
 char keyword_method[]    = "method";
 char keyword_operator[]  = "operator";
 char keyword_read[]      = "read";
+char keyword_semaphore[] = "semaphore";
 char keyword_singleton[] = "singleton";
 char keyword_userdata[]  = "userdata";
 char keyword_write[]     = "write";
@@ -278,6 +279,10 @@ struct userdata_field {
   unsigned int access_flags;
 };
 
+enum userdata_flags {
+  UD_FLAG_SEMAPHORE = (1U << 0),
+};
+
 struct userdata {
   struct userdata * next;
   char *name;  // name of the C++ singleton
@@ -286,6 +291,7 @@ struct userdata {
   struct method *methods;
   enum userdata_type ud_type;
   uint32_t operations; // bitset of enum operation_types
+  int flags; // flags from the userdata_flags enum
 };
 
 static struct userdata *parsed_userdata = NULL;
@@ -688,17 +694,18 @@ void handle_singleton(void) {
     node->alias = (char *)allocate(strlen(alias) + 1);
     strcpy(node->alias, alias);
 
-    // ensure no more tokens on the line
-    if (next_token()) {
-      error(ERROR_HEADER, "Singleton contained an unexpected extra token: %s", state.token);
-    }
-    return;
+  } else if (strcmp(type, keyword_semaphore) == 0) {
+    node->flags |= UD_FLAG_SEMAPHORE;
   } else if (strcmp(type, keyword_method) == 0) {
     handle_method(node->name, &(node->methods));
   } else {
-    error(ERROR_SINGLETON, "Singletons only support methods or aliases (got %s)", type);
+    error(ERROR_SINGLETON, "Singletons only support aliases, methods or semaphore keyowrds (got %s)", type);
   }
 
+  // ensure no more tokens on the line
+  if (next_token()) {
+    error(ERROR_HEADER, "Singleton contained an unexpected extra token: %s", state.token);
+  }
 }
 
 void sanity_check_userdata(void) {
@@ -1038,6 +1045,10 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
     arg_count++;
   }
 
+  if (data->flags & UD_FLAG_SEMAPHORE) {
+    fprintf(source, "    ud->get_semaphore().take_blocking();\n");
+  }
+
   switch (method->return_type.type) {
     case TYPE_BOOLEAN:
       fprintf(source, "    const bool data = ud->%s(\n", method->name);
@@ -1084,8 +1095,11 @@ void emit_userdata_method(const struct userdata *data, const struct method *meth
     }
     arg_count++;
   }
-  fprintf(source, ");\n\n");
+  fprintf(source, "%s);\n\n", arg_count == 2 ? "        " : "");
 
+  if (data->flags & UD_FLAG_SEMAPHORE) {
+    fprintf(source, "    ud->get_semaphore().give();\n");
+  }
 
   int return_count = 1; // number of arguments to return
   switch (method->return_type.type) {
diff --git a/libraries/AP_Scripting/lua_generated_bindings.cpp b/libraries/AP_Scripting/lua_generated_bindings.cpp
index d93c4f8ec2..1499e8ae3e 100644
--- a/libraries/AP_Scripting/lua_generated_bindings.cpp
+++ b/libraries/AP_Scripting/lua_generated_bindings.cpp
@@ -257,7 +257,7 @@ static int Vector2f_is_zero(lua_State *L) {
 
     Vector2f * ud = check_Vector2f(L, 1);
     ud->is_zero(
-);
+        );
 
     return 0;
 }
@@ -272,7 +272,7 @@ static int Vector2f_is_inf(lua_State *L) {
 
     Vector2f * ud = check_Vector2f(L, 1);
     ud->is_inf(
-);
+        );
 
     return 0;
 }
@@ -287,7 +287,7 @@ static int Vector2f_is_nan(lua_State *L) {
 
     Vector2f * ud = check_Vector2f(L, 1);
     ud->is_nan(
-);
+        );
 
     return 0;
 }
@@ -302,7 +302,7 @@ static int Vector2f_normalize(lua_State *L) {
 
     Vector2f * ud = check_Vector2f(L, 1);
     ud->normalize(
-);
+        );
 
     return 0;
 }
@@ -317,7 +317,7 @@ static int Vector2f_length(lua_State *L) {
 
     Vector2f * ud = check_Vector2f(L, 1);
     const float data = ud->length(
-);
+        );
 
     lua_pushnumber(L, data);
     return 1;
@@ -363,7 +363,7 @@ static int Vector3f_is_zero(lua_State *L) {
 
     Vector3f * ud = check_Vector3f(L, 1);
     ud->is_zero(
-);
+        );
 
     return 0;
 }
@@ -378,7 +378,7 @@ static int Vector3f_is_inf(lua_State *L) {
 
     Vector3f * ud = check_Vector3f(L, 1);
     ud->is_inf(
-);
+        );
 
     return 0;
 }
@@ -393,7 +393,7 @@ static int Vector3f_is_nan(lua_State *L) {
 
     Vector3f * ud = check_Vector3f(L, 1);
     ud->is_nan(
-);
+        );
 
     return 0;
 }
@@ -408,7 +408,7 @@ static int Vector3f_normalize(lua_State *L) {
 
     Vector3f * ud = check_Vector3f(L, 1);
     ud->normalize(
-);
+        );
 
     return 0;
 }
@@ -423,7 +423,7 @@ static int Vector3f_length(lua_State *L) {
 
     Vector3f * ud = check_Vector3f(L, 1);
     const float data = ud->length(
-);
+        );
 
     lua_pushnumber(L, data);
     return 1;
@@ -560,7 +560,7 @@ const luaL_Reg Location_meta[] = {
 };
 
 static int AP_Relay_toggle(lua_State *L) {
-    // 1 uint8_t 121 : 8
+    // 1 uint8_t 122 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -583,7 +583,7 @@ static int AP_Relay_toggle(lua_State *L) {
 }
 
 static int AP_Relay_enabled(lua_State *L) {
-    // 1 uint8_t 120 : 8
+    // 1 uint8_t 121 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -607,7 +607,7 @@ static int AP_Relay_enabled(lua_State *L) {
 }
 
 static int AP_Relay_off(lua_State *L) {
-    // 1 uint8_t 119 : 8
+    // 1 uint8_t 120 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -630,7 +630,7 @@ static int AP_Relay_off(lua_State *L) {
 }
 
 static int AP_Relay_on(lua_State *L) {
-    // 1 uint8_t 118 : 8
+    // 1 uint8_t 119 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -653,8 +653,8 @@ static int AP_Relay_on(lua_State *L) {
 }
 
 static int AP_Terrain_height_above_terrain(lua_State *L) {
-    // 1 float 113 : 6
-    // 2 bool 113 : 7
+    // 1 float 114 : 6
+    // 2 bool 114 : 7
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -682,9 +682,9 @@ static int AP_Terrain_height_above_terrain(lua_State *L) {
 }
 
 static int AP_Terrain_height_relative_home_equivalent(lua_State *L) {
-    // 1 float 112 : 8
-    // 2 float 112 : 9
-    // 3 bool 112 : 10
+    // 1 float 113 : 8
+    // 2 float 113 : 9
+    // 3 bool 113 : 10
     const int args = lua_gettop(L);
     if (args > 3) {
         return luaL_argerror(L, args, "too many arguments");
@@ -716,8 +716,8 @@ static int AP_Terrain_height_relative_home_equivalent(lua_State *L) {
 }
 
 static int AP_Terrain_height_terrain_difference_home(lua_State *L) {
-    // 1 float 111 : 6
-    // 2 bool 111 : 7
+    // 1 float 112 : 6
+    // 2 bool 112 : 7
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -745,9 +745,9 @@ static int AP_Terrain_height_terrain_difference_home(lua_State *L) {
 }
 
 static int AP_Terrain_height_amsl(lua_State *L) {
-    // 1 Location 110 : 6
-    // 2 float 110 : 7
-    // 3 bool 110 : 8
+    // 1 Location 111 : 6
+    // 2 float 111 : 7
+    // 3 bool 111 : 8
     const int args = lua_gettop(L);
     if (args > 3) {
         return luaL_argerror(L, args, "too many arguments");
@@ -790,7 +790,7 @@ static int AP_Terrain_status(lua_State *L) {
     }
 
     const uint8_t data = ud->status(
-);
+        );
 
     lua_pushinteger(L, data);
     return 1;
@@ -810,7 +810,7 @@ static int AP_Terrain_enabled(lua_State *L) {
     }
 
     const bool data = ud->enabled(
-);
+        );
 
     lua_pushboolean(L, data);
     return 1;
@@ -830,14 +830,14 @@ static int RangeFinder_num_sensors(lua_State *L) {
     }
 
     const uint8_t data = ud->num_sensors(
-);
+        );
 
     lua_pushinteger(L, data);
     return 1;
 }
 
 static int AP_Notify_play_tune(lua_State *L) {
-    // 1 userdata 98 : 6
+    // 1 userdata 99 : 6
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -871,7 +871,7 @@ static int AP_GPS_first_unconfigured_gps(lua_State *L) {
     }
 
     const uint8_t data = ud->first_unconfigured_gps(
-);
+        );
 
     lua_pushinteger(L, data);
     return 1;
@@ -891,14 +891,14 @@ static int AP_GPS_all_configured(lua_State *L) {
     }
 
     const bool data = ud->all_configured(
-);
+        );
 
     lua_pushboolean(L, data);
     return 1;
 }
 
 static int AP_GPS_get_antenna_offset(lua_State *L) {
-    // 1 uint8_t 69 : 8
+    // 1 uint8_t 70 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -923,7 +923,7 @@ static int AP_GPS_get_antenna_offset(lua_State *L) {
 }
 
 static int AP_GPS_have_vertical_velocity(lua_State *L) {
-    // 1 uint8_t 68 : 8
+    // 1 uint8_t 69 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -947,7 +947,7 @@ static int AP_GPS_have_vertical_velocity(lua_State *L) {
 }
 
 static int AP_GPS_last_message_time_ms(lua_State *L) {
-    // 1 uint8_t 67 : 8
+    // 1 uint8_t 68 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -972,7 +972,7 @@ static int AP_GPS_last_message_time_ms(lua_State *L) {
 }
 
 static int AP_GPS_last_fix_time_ms(lua_State *L) {
-    // 1 uint8_t 66 : 8
+    // 1 uint8_t 67 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -997,7 +997,7 @@ static int AP_GPS_last_fix_time_ms(lua_State *L) {
 }
 
 static int AP_GPS_get_vdop(lua_State *L) {
-    // 1 uint8_t 65 : 8
+    // 1 uint8_t 66 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1021,7 +1021,7 @@ static int AP_GPS_get_vdop(lua_State *L) {
 }
 
 static int AP_GPS_get_hdop(lua_State *L) {
-    // 1 uint8_t 64 : 8
+    // 1 uint8_t 65 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1045,7 +1045,7 @@ static int AP_GPS_get_hdop(lua_State *L) {
 }
 
 static int AP_GPS_time_week_ms(lua_State *L) {
-    // 1 uint8_t 63 : 8
+    // 1 uint8_t 64 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1070,7 +1070,7 @@ static int AP_GPS_time_week_ms(lua_State *L) {
 }
 
 static int AP_GPS_time_week(lua_State *L) {
-    // 1 uint8_t 62 : 8
+    // 1 uint8_t 63 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1094,7 +1094,7 @@ static int AP_GPS_time_week(lua_State *L) {
 }
 
 static int AP_GPS_num_sats(lua_State *L) {
-    // 1 uint8_t 61 : 8
+    // 1 uint8_t 62 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1118,7 +1118,7 @@ static int AP_GPS_num_sats(lua_State *L) {
 }
 
 static int AP_GPS_ground_course(lua_State *L) {
-    // 1 uint8_t 60 : 8
+    // 1 uint8_t 61 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1142,7 +1142,7 @@ static int AP_GPS_ground_course(lua_State *L) {
 }
 
 static int AP_GPS_ground_speed(lua_State *L) {
-    // 1 uint8_t 59 : 8
+    // 1 uint8_t 60 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1166,7 +1166,7 @@ static int AP_GPS_ground_speed(lua_State *L) {
 }
 
 static int AP_GPS_velocity(lua_State *L) {
-    // 1 uint8_t 58 : 8
+    // 1 uint8_t 59 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1191,8 +1191,8 @@ static int AP_GPS_velocity(lua_State *L) {
 }
 
 static int AP_GPS_vertical_accuracy(lua_State *L) {
-    // 1 uint8_t 57 : 8
-    // 2 float 57 : 9
+    // 1 uint8_t 58 : 8
+    // 2 float 58 : 9
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1222,8 +1222,8 @@ static int AP_GPS_vertical_accuracy(lua_State *L) {
 }
 
 static int AP_GPS_horizontal_accuracy(lua_State *L) {
-    // 1 uint8_t 56 : 8
-    // 2 float 56 : 9
+    // 1 uint8_t 57 : 8
+    // 2 float 57 : 9
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1253,8 +1253,8 @@ static int AP_GPS_horizontal_accuracy(lua_State *L) {
 }
 
 static int AP_GPS_speed_accuracy(lua_State *L) {
-    // 1 uint8_t 55 : 8
-    // 2 float 55 : 9
+    // 1 uint8_t 56 : 8
+    // 2 float 56 : 9
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1284,7 +1284,7 @@ static int AP_GPS_speed_accuracy(lua_State *L) {
 }
 
 static int AP_GPS_location(lua_State *L) {
-    // 1 uint8_t 54 : 8
+    // 1 uint8_t 55 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1309,7 +1309,7 @@ static int AP_GPS_location(lua_State *L) {
 }
 
 static int AP_GPS_status(lua_State *L) {
-    // 1 uint8_t 53 : 8
+    // 1 uint8_t 54 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1346,7 +1346,7 @@ static int AP_GPS_primary_sensor(lua_State *L) {
     }
 
     const uint8_t data = ud->primary_sensor(
-);
+        );
 
     lua_pushinteger(L, data);
     return 1;
@@ -1366,15 +1366,15 @@ static int AP_GPS_num_sensors(lua_State *L) {
     }
 
     const uint8_t data = ud->num_sensors(
-);
+        );
 
     lua_pushinteger(L, data);
     return 1;
 }
 
 static int AP_BattMonitor_get_temperature(lua_State *L) {
-    // 1 float 46 : 6
-    // 2 uint8_t 46 : 9
+    // 1 float 47 : 6
+    // 2 uint8_t 47 : 9
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1404,7 +1404,7 @@ static int AP_BattMonitor_get_temperature(lua_State *L) {
 }
 
 static int AP_BattMonitor_overpower_detected(lua_State *L) {
-    // 1 uint8_t 45 : 8
+    // 1 uint8_t 46 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1441,14 +1441,14 @@ static int AP_BattMonitor_has_failsafed(lua_State *L) {
     }
 
     const bool data = ud->has_failsafed(
-);
+        );
 
     lua_pushboolean(L, data);
     return 1;
 }
 
 static int AP_BattMonitor_pack_capacity_mah(lua_State *L) {
-    // 1 uint8_t 43 : 8
+    // 1 uint8_t 44 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1472,7 +1472,7 @@ static int AP_BattMonitor_pack_capacity_mah(lua_State *L) {
 }
 
 static int AP_BattMonitor_capacity_remaining_pct(lua_State *L) {
-    // 1 uint8_t 42 : 8
+    // 1 uint8_t 43 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1496,7 +1496,7 @@ static int AP_BattMonitor_capacity_remaining_pct(lua_State *L) {
 }
 
 static int AP_BattMonitor_consumed_wh(lua_State *L) {
-    // 1 uint8_t 41 : 8
+    // 1 uint8_t 42 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1520,7 +1520,7 @@ static int AP_BattMonitor_consumed_wh(lua_State *L) {
 }
 
 static int AP_BattMonitor_consumed_mah(lua_State *L) {
-    // 1 uint8_t 40 : 8
+    // 1 uint8_t 41 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1544,7 +1544,7 @@ static int AP_BattMonitor_consumed_mah(lua_State *L) {
 }
 
 static int AP_BattMonitor_current_amps(lua_State *L) {
-    // 1 uint8_t 39 : 8
+    // 1 uint8_t 40 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1568,7 +1568,7 @@ static int AP_BattMonitor_current_amps(lua_State *L) {
 }
 
 static int AP_BattMonitor_voltage_resting_estimate(lua_State *L) {
-    // 1 uint8_t 38 : 8
+    // 1 uint8_t 39 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1592,7 +1592,7 @@ static int AP_BattMonitor_voltage_resting_estimate(lua_State *L) {
 }
 
 static int AP_BattMonitor_voltage(lua_State *L) {
-    // 1 uint8_t 37 : 8
+    // 1 uint8_t 38 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1616,7 +1616,7 @@ static int AP_BattMonitor_voltage(lua_State *L) {
 }
 
 static int AP_BattMonitor_has_current(lua_State *L) {
-    // 1 uint8_t 36 : 8
+    // 1 uint8_t 37 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1640,7 +1640,7 @@ static int AP_BattMonitor_has_current(lua_State *L) {
 }
 
 static int AP_BattMonitor_has_consumed_energy(lua_State *L) {
-    // 1 uint8_t 35 : 8
+    // 1 uint8_t 36 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1664,7 +1664,7 @@ static int AP_BattMonitor_has_consumed_energy(lua_State *L) {
 }
 
 static int AP_BattMonitor_healthy(lua_State *L) {
-    // 1 uint8_t 34 : 8
+    // 1 uint8_t 35 : 8
     const int args = lua_gettop(L);
     if (args > 2) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1701,7 +1701,7 @@ static int AP_BattMonitor_num_instances(lua_State *L) {
     }
 
     const uint8_t data = ud->num_instances(
-);
+        );
 
     lua_pushinteger(L, data);
     return 1;
@@ -1720,9 +1720,11 @@ static int AP_AHRS_prearm_healthy(lua_State *L) {
         return luaL_argerror(L, args, "ahrs not supported on this firmware");
     }
 
+    ud->get_semaphore().take_blocking();
     const bool data = ud->prearm_healthy(
-);
+        );
 
+    ud->get_semaphore().give();
     lua_pushboolean(L, data);
     return 1;
 }
@@ -1740,15 +1742,17 @@ static int AP_AHRS_home_is_set(lua_State *L) {
         return luaL_argerror(L, args, "ahrs not supported on this firmware");
     }
 
+    ud->get_semaphore().take_blocking();
     const bool data = ud->home_is_set(
-);
+        );
 
+    ud->get_semaphore().give();
     lua_pushboolean(L, data);
     return 1;
 }
 
 static int AP_AHRS_get_relative_position_NED_home(lua_State *L) {
-    // 1 Vector3f 26 : 6
+    // 1 Vector3f 27 : 6
     const int args = lua_gettop(L);
     if (args > 1) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1762,9 +1766,11 @@ static int AP_AHRS_get_relative_position_NED_home(lua_State *L) {
     }
 
     Vector3f data_5002 = {};
+    ud->get_semaphore().take_blocking();
     const bool data = ud->get_relative_position_NED_home(
             data_5002);
 
+    ud->get_semaphore().give();
     if (data) {
         new_Vector3f(L);
         *check_Vector3f(L, -1) = data_5002;
@@ -1775,7 +1781,7 @@ static int AP_AHRS_get_relative_position_NED_home(lua_State *L) {
 }
 
 static int AP_AHRS_get_velocity_NED(lua_State *L) {
-    // 1 Vector3f 25 : 6
+    // 1 Vector3f 26 : 6
     const int args = lua_gettop(L);
     if (args > 1) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1789,9 +1795,11 @@ static int AP_AHRS_get_velocity_NED(lua_State *L) {
     }
 
     Vector3f data_5002 = {};
+    ud->get_semaphore().take_blocking();
     const bool data = ud->get_velocity_NED(
             data_5002);
 
+    ud->get_semaphore().give();
     if (data) {
         new_Vector3f(L);
         *check_Vector3f(L, -1) = data_5002;
@@ -1814,9 +1822,11 @@ static int AP_AHRS_groundspeed_vector(lua_State *L) {
         return luaL_argerror(L, args, "ahrs not supported on this firmware");
     }
 
+    ud->get_semaphore().take_blocking();
     const Vector2f &data = ud->groundspeed_vector(
-);
+        );
 
+    ud->get_semaphore().give();
     new_Vector2f(L);
     *check_Vector2f(L, -1) = data;
     return 1;
@@ -1835,16 +1845,18 @@ static int AP_AHRS_wind_estimate(lua_State *L) {
         return luaL_argerror(L, args, "ahrs not supported on this firmware");
     }
 
+    ud->get_semaphore().take_blocking();
     const Vector3f &data = ud->wind_estimate(
-);
+        );
 
+    ud->get_semaphore().give();
     new_Vector3f(L);
     *check_Vector3f(L, -1) = data;
     return 1;
 }
 
 static int AP_AHRS_get_hagl(lua_State *L) {
-    // 1 float 22 : 6
+    // 1 float 23 : 6
     const int args = lua_gettop(L);
     if (args > 1) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1858,9 +1870,11 @@ static int AP_AHRS_get_hagl(lua_State *L) {
     }
 
     float data_5002 = {};
+    ud->get_semaphore().take_blocking();
     const bool data = ud->get_hagl(
             data_5002);
 
+    ud->get_semaphore().give();
     if (data) {
         lua_pushnumber(L, data_5002);
     } else {
@@ -1882,9 +1896,11 @@ static int AP_AHRS_get_gyro(lua_State *L) {
         return luaL_argerror(L, args, "ahrs not supported on this firmware");
     }
 
+    ud->get_semaphore().take_blocking();
     const Vector3f &data = ud->get_gyro(
-);
+        );
 
+    ud->get_semaphore().give();
     new_Vector3f(L);
     *check_Vector3f(L, -1) = data;
     return 1;
@@ -1903,16 +1919,18 @@ static int AP_AHRS_get_home(lua_State *L) {
         return luaL_argerror(L, args, "ahrs not supported on this firmware");
     }
 
+    ud->get_semaphore().take_blocking();
     const Location &data = ud->get_home(
-);
+        );
 
+    ud->get_semaphore().give();
     new_Location(L);
     *check_Location(L, -1) = data;
     return 1;
 }
 
 static int AP_AHRS_get_position(lua_State *L) {
-    // 1 Location 19 : 6
+    // 1 Location 20 : 6
     const int args = lua_gettop(L);
     if (args > 1) {
         return luaL_argerror(L, args, "too many arguments");
@@ -1926,9 +1944,11 @@ static int AP_AHRS_get_position(lua_State *L) {
     }
 
     Location data_5002 = {};
+    ud->get_semaphore().take_blocking();
     const bool data = ud->get_position(
             data_5002);
 
+    ud->get_semaphore().give();
     if (data) {
         new_Location(L);
         *check_Location(L, -1) = data_5002;