diff --git a/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.lua b/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.lua
new file mode 100644
index 0000000000..582e0ce089
--- /dev/null
+++ b/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.lua
@@ -0,0 +1,132 @@
+--[[
+Usage for SITL PLANE testing:
+
+- default params already enable rangefinder
+- set param RTL_AUTOLAND 2
+- set param SCR_ENABLE 1
+- set param RNGFND1_TYPE 100
+- restart, if needed
+- upload mission (jump_tags_calibrate_agl.waypoints)
+- launch plane (switch to AUTO and arm)
+- Mission will go to a loiter_unlim at wp 2.
+- set param SIM_BARO_DRIFT to your taste to simulate a long mission.
+- switch mode to RTL, which jumps you back to AUTO at the DO_LAND_START which begins with a loiter_to_alt.
+
+- once the loiter_to_alt is done, it will do an approach pattern and fly over the runway and sample the altitude
+    using the rangefinder. The start and end sample points are defined tag 400 and 401 where at 401 it uses the
+    average AGL and adjusts BARO_ALT_GND to compensate for any baro drift.
+- It then does the rest of the pattern and lands without the lidar needing to do much because the offset
+     has already been corrected for
+
+
+
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.3629591	149.1647941	584.016148	1
+1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	10.000000	1
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+3	0	3	189	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+4	0	3	31	0.00000000	0.00000000	0.00000000	0.00000000	-35.36416220	149.16121600	40.000000	1
+5	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36648940	149.16154860	30.000000	1
+6	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36614380	149.16553970	30.000000	1
+7	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36330910	149.16519370	30.000000	1
+8	0	0	600	400.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+9	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36233350	149.16505430	100.000000	1
+10	0	0	600	401.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+11	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36058800	149.16486380	40.000000	1
+12	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36079800	149.16206900	100.000000	1
+13	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36720250	149.16250880	40.000000	1
+14	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36693130	149.16574360	30.000000	1
+15	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36566700	149.16559340	30.000000	1
+16	0	3	21	0.00000000	0.00000000	0.00000000	1.00000000	-35.36276450	149.16517900	0.000000	1
+--]]
+
+
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+
+local ROTATION_PITCH_270 = 25
+
+local MISSION_TAG_MEASURE_AGL_START         = 400
+local MISSION_TAG_CALIBRATE_BARO            = 401
+
+local agl_samples_count = 0
+local agl_samples_sum = 0
+
+
+function sample_rangefinder_to_get_AGL()
+    if (not rangefinder:has_data_orient(ROTATION_PITCH_270)) then
+        -- rangefinder not ready
+        return
+    end
+
+    -- we're actively sampling rangefinder distance to ground
+    local distance_raw_m = rangefinder:distance_cm_orient(ROTATION_PITCH_270) * 0.01
+
+    -- correct the range for attitude (multiply by DCM.c.z, which is cos(roll)*cos(pitch))
+    local ahrs_get_rotation_body_to_ned_c_z = math.cos(ahrs:get_roll())*math.cos(ahrs:get_pitch())
+    local agl_corrected_for_attitude_m = distance_raw_m * ahrs_get_rotation_body_to_ned_c_z
+
+    if (agl_samples_count <= 0) then
+        agl_samples_count = 0 -- divide-by-zero sanity check in case it somehow wrapped or initialized wrong
+        agl_samples_sum = 0
+        gcs:send_text(MAV_SEVERITY.INFO, string.format("LUA: AGL measurements started"))
+    end
+
+    agl_samples_sum = agl_samples_sum + agl_corrected_for_attitude_m
+    agl_samples_count = agl_samples_count + 1
+
+    local agl_average = agl_samples_sum / agl_samples_count
+    gcs:send_text(MAV_SEVERITY.INFO, string.format("LUA: AGL measurement %u: %.2fm, avg: %.2f", agl_samples_count, agl_corrected_for_attitude_m, agl_average))
+end
+
+
+function update_baro(new_agl_m)
+    
+    local current_baro_agl_m = baro:get_altitude()
+    local alt_error_m = current_baro_agl_m - new_agl_m
+    gcs:send_text(MAV_SEVERITY.INFO, string.format("LUA: AGL alt_error is: %.2f - %.2f = %.2f", current_baro_agl_m, new_agl_m, alt_error_m))
+
+    local baro_alt_offset = param:get('BARO_ALT_OFFSET')
+    local baro_alt_offset_new_value = baro_alt_offset + alt_error_m
+    gcs:send_text(MAV_SEVERITY.INFO, string.format("LUA: BARO_ALT_OFFSET changed from %.2f to %.2f", baro_alt_offset, baro_alt_offset_new_value))
+    param:set('BARO_ALT_OFFSET', baro_alt_offset_new_value)
+end
+
+
+function update()
+    if (mission:state() ~= mission.MISSION_RUNNING) or (not arming:is_armed()) or (not vehicle:get_likely_flying()) then
+        -- only run landing mission checks if in auto with a valid mission and armed and flying.
+        return update, 5000
+    end
+
+    local tag, age = mission:get_last_jump_tag()
+
+    if (tag == nil) then
+        return update, 1000
+    end
+
+    if ((tag == MISSION_TAG_MEASURE_AGL_START) and (age <= 5)) then
+        -- we're at or currently on waypoints after the tag so lets start gathering samples
+        sample_rangefinder_to_get_AGL()
+        -- lets sample at 2 Hz
+        return update, 500
+
+    elseif ((tag == MISSION_TAG_CALIBRATE_BARO) and (age <= 3) and (agl_samples_count > 0)) then
+        -- finished sampling, use the result to offset baro
+        local agl_average_final_m = agl_samples_sum / agl_samples_count
+        gcs:send_text(MAV_SEVERITY.INFO, string.format("LUA: AGL measurements stopped: samples = %d, avg = %.2fm", agl_samples_count, agl_average_final_m))
+        update_baro(agl_average_final_m)
+        agl_samples_count = 0
+    else
+        agl_samples_count = 0
+    end
+
+    return update, 1000
+end
+
+
+gcs:send_text(MAV_SEVERITY.INFO, "LUA: SCRIPT START: Check AGL to calibrate Baro")
+return update()
+
+
diff --git a/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.waypoints b/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.waypoints
new file mode 100644
index 0000000000..2146a870fe
--- /dev/null
+++ b/libraries/AP_Scripting/examples/jump_tags_calibrate_agl.waypoints
@@ -0,0 +1,18 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.3629591	149.1647941	584.016148	1
+1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	10.000000	1
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+3	0	3	189	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+4	0	3	31	0.00000000	0.00000000	0.00000000	0.00000000	-35.36416220	149.16121600	40.000000	1
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+7	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36330910	149.16519370	30.000000	1
+8	0	0	600	400.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
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+10	0	0	600	401.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
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+16	0	3	21	0.00000000	0.00000000	0.00000000	1.00000000	-35.36276450	149.16517900	0.000000	1
diff --git a/libraries/AP_Scripting/examples/jump_tags_into_wind_landing.lua b/libraries/AP_Scripting/examples/jump_tags_into_wind_landing.lua
new file mode 100644
index 0000000000..88baf89a9f
--- /dev/null
+++ b/libraries/AP_Scripting/examples/jump_tags_into_wind_landing.lua
@@ -0,0 +1,129 @@
+--[[
+Usage for SITL PLANE testing:
+
+- set param SIM_WIND_SPD 5
+- set param SIM_WIND_DIR 0
+- set param RTL_AUTOLAND 2
+- set param SCR_ENABLE 1
+- restart, if needed
+- upload mission (jump_tags_into_wind_landing.waypoints)
+- launch plane (switch to AUTO and arm)
+- Mission will go to a loiter_unlim at wp 2.
+- switch mode to RTL, which jumps you back to AUTO at the DO_LAND_START which begins with a loiter_to_alt.
+
+once the loiter_to_alt is done, it will jump to the landing pattern that has the headwind
+
+- set param SIM_WIND_DIR 180
+
+observe that it will jump to the other direction for always an into-wind landing
+
+
+
+
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.3632622	149.1652376	584.090000	1
+1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	10.000000	1
+2	0	3	17	0.00000000	0.00000000	0.00000000	0.00000000	-35.36296350	149.15812610	200.000000	1
+3	0	3	189	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+4	0	3	31	1.00000000	0.00000000	0.00000000	0.00000000	-35.36289790	149.16306140	50.000000	1
+5	0	3	600	200.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+6	0	3	17	0.00000000	0.00000000	0.00000000	0.00000000	-35.36289790	149.16335600	50.000000	1
+7	0	3	600	300.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
+8	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36733370	149.16327060	40.000000	1
+9	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36704940	149.16576500	30.000000	1
+10	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.36595570	149.16557190	30.000000	1
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+12	0	3	600	301.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.000000	1
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+15	0	3	16	0.00000000	0.00000000	0.00000000	0.00000000	-35.35932370	149.16465460	30.000000	1
+16	0	3	21	0.00000000	0.00000000	0.00000000	0.00000000	-35.36246480	149.16510790	0.000000	1
+--]]
+
+
+local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
+
+local MAV_CMD_NAV_LAND = 21
+
+-- some made-up numbers for TAGS that are used in the mission
+local MISSION_TAG_DETERMINE_LAND_DIRECTION  = 200
+local MISSION_TAG_LAND1_DIRECTION_NORMAL    = 300
+local MISSION_TAG_LAND1_DIRECTION_REVERSE   = 301
+
+
+function get_bearing_of_first_land_after_tag(tag)
+
+    local index_start = mission:get_index_of_jump_tag(tag)
+    mitem_prev = mission:get_item(index_start)
+    if (not mitem_prev) then
+        return nil
+    end
+
+    for index = index_start+1, mission:num_commands()-1 do
+        mitem = mission:get_item(index)
+        if (not mitem) then
+            return nil
+        end
+        if (mitem:command() == MAV_CMD_NAV_LAND) then
+            local wp1 = Location()
+            wp1:lat(mitem_prev:x())
+            wp1:lng(mitem_prev:y())
+        
+            local wp2 = Location()
+            wp2:lat(mitem:x())
+            wp2:lng(mitem:y())
+        
+            return wp1:get_bearing(wp2)
+        end
+        mitem_prev = mitem;
+    end
+    return nil
+end
+
+
+function check_wind_and_jump_to_INTO_wind_landing()
+
+    local reverse_land_bearing = get_bearing_of_first_land_after_tag(MISSION_TAG_LAND1_DIRECTION_REVERSE)
+    if (not reverse_land_bearing) then
+        return
+    end
+
+    local wind = ahrs:wind_estimate()
+    local tail_wind = (math.sin(reverse_land_bearing) * wind:y()) + (math.cos(reverse_land_bearing) * wind:x())
+
+    -- we need at least 10 cm/s of tailwind. With very little wind (or a noisy 0 value) we don't want to flip around.
+    local tail_wind_threshold = 0.1
+
+    local tag
+    if (tail_wind > tail_wind_threshold) then
+        gcs:send_text(MAV_SEVERITY.INFO, "LUA: continuing with normal landing direction")
+        tag = MISSION_TAG_LAND1_DIRECTION_NORMAL
+    else
+        gcs:send_text(MAV_SEVERITY.INFO, "LUA: jump mission to other into-wind landing direction")
+        tag = MISSION_TAG_LAND1_DIRECTION_REVERSE
+    end
+
+    if (not mission:jump_to_tag(tag)) then
+        gcs:send_text(MAV_SEVERITY.WARNING, string.format("LUA: jump_to_tag %u failed", tag))
+    end
+end
+
+
+function update()
+    if (mission:state() ~= mission.MISSION_RUNNING) or (not arming:is_armed()) or (not vehicle:get_likely_flying()) then
+        -- only run landing mission checks if in auto with a valid mission and armed and flying.
+        return update, 5000
+    end
+
+    local tag, age = mission:get_last_jump_tag()
+    if (tag ~= nil) and (tag == MISSION_TAG_DETERMINE_LAND_DIRECTION) and (age <= 3) then
+        -- we're at the decision point and its not stale
+        check_wind_and_jump_to_INTO_wind_landing()
+    end
+
+    return update, 1000
+end
+
+
+gcs:send_text(MAV_SEVERITY.INFO, "LUA: SCRIPT START: Jump_Tag into wind landing")
+return update() -- run immediately before starting to reschedule
diff --git a/libraries/AP_Scripting/examples/jump_tags_into_wind_landing.waypoints b/libraries/AP_Scripting/examples/jump_tags_into_wind_landing.waypoints
new file mode 100644
index 0000000000..23b1994733
--- /dev/null
+++ b/libraries/AP_Scripting/examples/jump_tags_into_wind_landing.waypoints
@@ -0,0 +1,18 @@
+QGC WPL 110
+0	1	0	16	0	0	0	0	-35.3632622	149.1652376	584.090000	1
+1	0	3	22	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	0.00000000	10.000000	1
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