diff --git a/libraries/AP_Scripting/AP_Scripting_CRSFMenu.cpp b/libraries/AP_Scripting/AP_Scripting_CRSFMenu.cpp
index c4f861bf5f..afac86e429 100644
--- a/libraries/AP_Scripting/AP_Scripting_CRSFMenu.cpp
+++ b/libraries/AP_Scripting/AP_Scripting_CRSFMenu.cpp
@@ -66,6 +66,26 @@ int lua_CRSF_get_menu_event(lua_State *L)
     return 3;
 }
 
+int lua_CRSF_peek_menu_event(lua_State *L)
+{
+    binding_argcheck(L, 1);
+
+    uint8_t param = 0;
+    uint8_t events = 0;
+    AP_CRSF_Telem::ScriptedPayload payload {};
+    const uint8_t count = AP::crsf_telem()->peek_menu_event(param, payload, events);
+
+#if 4 > LUA_MINSTACK
+    luaL_checkstack(L, 4, nullptr);
+#endif
+
+    lua_pushinteger(L, count);
+    lua_pushinteger(L, param);
+    lua_pushlstring(L, (const char*)payload.payload, payload.payload_length);
+    lua_pushinteger(L, events);
+    return 4;
+}
+
 int lua_CRSF_send_response(lua_State *L)
 {
     binding_argcheck(L, 2);
diff --git a/libraries/AP_Scripting/AP_Scripting_CRSFMenu.h b/libraries/AP_Scripting/AP_Scripting_CRSFMenu.h
index d313915148..ad9cfbcf35 100644
--- a/libraries/AP_Scripting/AP_Scripting_CRSFMenu.h
+++ b/libraries/AP_Scripting/AP_Scripting_CRSFMenu.h
@@ -7,6 +7,7 @@
 
 int lua_CRSF_new_menu(lua_State *L);
 int lua_CRSF_get_menu_event(lua_State *L);
+int lua_CRSF_peek_menu_event(lua_State *L);
 int lua_CRSF_send_response(lua_State *L);
 int lua_CRSF_add_parameter(lua_State *L);
 int lua_CRSF_add_menu(lua_State *L);
diff --git a/libraries/AP_Scripting/docs/docs.lua b/libraries/AP_Scripting/docs/docs.lua
index 7dae085e96..a190f92548 100644
--- a/libraries/AP_Scripting/docs/docs.lua
+++ b/libraries/AP_Scripting/docs/docs.lua
@@ -4311,11 +4311,27 @@ function crsf:add_menu(name) end
 ---| '2' # PARAMETER WRITE
 function crsf:get_menu_event(events) end
 
+-- peek pending CRSF menu event and associated data
+---@return integer -- number of pending events in the queue
+---@return integer -- parameter id of the event
+---@return string -- binary encoded response payload
+---@return integer -- bitmask of triggered events
+---| '1' # PARAMETER READ
+---| '2' # PARAMETER WRITE
+function crsf:peek_menu_event() end
+
+-- pop a pending event from the queue and add it to the queue of responses that need sending
+function crsf:pop_menu_event() end
+
 -- send a CRSF parameter request response
 ---@param data string -- binary encoded response payload
 ---@return boolean -- true if the repsonse was successfully sent, false otherwise
 function crsf:send_write_response(data) end
 
+-- send a generic CRSF parameter request response
+---@return boolean -- true if the repsonse was successfully sent, false otherwise
+function crsf:send_response() end
+
 -- handle for DroneCAN message operations
 ---@class DroneCAN_Handle_ud
 local DroneCAN_Handle_ud = {}
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index edd066291d..de88e0d523 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -759,6 +759,9 @@ singleton AP::crsf_telem() literal
 singleton AP::crsf_telem() rename crsf
 singleton AP::crsf_telem() manual add_menu lua_CRSF_add_root_menu 1 1
 singleton AP::crsf_telem() manual get_menu_event lua_CRSF_get_menu_event 1 3
+singleton AP::crsf_telem() manual peek_menu_event lua_CRSF_peek_menu_event 0 4
+singleton AP::crsf_telem() method pop_menu_event void
+singleton AP::crsf_telem() method send_response boolean
 singleton AP::crsf_telem() manual send_write_response lua_CRSF_send_response 1 1
 
 include AP_DroneCAN/AP_DroneCAN.h