diff --git a/libraries/AP_Scripting/examples/copter-nav-script-time.lua b/libraries/AP_Scripting/examples/copter-nav-script-time.lua
new file mode 100644
index 0000000000..5cd9b6f32a
--- /dev/null
+++ b/libraries/AP_Scripting/examples/copter-nav-script-time.lua
@@ -0,0 +1,90 @@
+-- Copter perform a simple maneuver in response to a NAV_SCRIPT_TIME mission command while the vehicle is in Auto mode
+--
+-- Create a simple mission like below
+-- TAKEOFF, Alt:10m
+-- NAV_SCRIPT_TIME, command=0 (not used in this script), timeout=30 (seconds), arg1=5 (square width in meters), arg2=10 (square height in meters)
+-- RETURN-TO-LAUNCH
+--
+-- Arm the vehicle (in Loiter mode), switch to Auto and raise the throttle
+-- The vehicle should climb to 10m
+-- This lua script will be fly the vehicle in square pattern in clockwise direction at the current altitude
+-- "arg1" specifies the width (e.g. East-West) in meters
+-- "arg2" specifies the height (e.g. North-South) in meters
+-- Once the vehicle completes the square or the timeout expires the mission will continue and the vehicle should RTL home
+
+local running = false
+local last_id = -1          -- unique id used to detect if a new NAV_SCRIPT_TIME command has started
+local start_loc             -- vehicle's location when command starts (South-West corner of square)
+local target_loc            -- vehicle's target location
+local stage = 0             -- stage0: fly North arg2 meters
+                            -- stage1: fly East arg1 meters
+                            -- stage2: fly South arg2 meters
+                            -- stage3: fly West arg2 meters
+                            -- stage4: done
+local prev_stage = -1       -- previous stage, used to initate call to move to next corner
+
+function update()
+  id, cmd, arg1, arg2 = vehicle:nav_script_time()
+  if id then
+    -- handle start of new command
+    if id ~= last_id then
+      start_loc = ahrs:get_location()       -- initialise south-west corner of square
+      if start_loc then
+        running = true
+        last_id = id
+        stage = 0                           -- start heading North
+        prev_stage = -1
+      else
+        gcs:send_text(0, "nav-script-time: failed to get location")
+        running = false
+      end
+    end
+
+    -- set waypoint target according to stage
+    if (running and stage ~= prev_stage) then
+      prev_stage = stage
+      local corner_loc = start_loc:copy()   -- initialise target location to starting location
+      if (stage == 0) then
+        corner_loc:offset(arg2, 0)          -- North West corner
+      end
+      if (stage == 1) then
+        corner_loc:offset(arg2, arg1)       -- North East corner
+      end
+      if (stage == 2) then
+        corner_loc:offset(0, arg1)          -- South East corner
+      end
+      -- stage 3 is back to start_loc
+      if vehicle:set_target_location(corner_loc) then
+        target_loc = corner_loc
+      else
+        gcs:send_text(0, "nav-script-time: failed to set target")
+        vehicle:nav_script_time_done(last_id)
+        running = false
+      end
+    end
+
+    -- advance stage if we have reached within 1m of target
+    if running then
+      local curr_loc = ahrs:get_location()
+      if curr_loc then
+        local dist_m = curr_loc:get_distance(target_loc)
+        if (dist_m < 1.0) then
+          stage = stage + 1
+          if stage == 4 then
+            vehicle:nav_script_time_done(last_id)
+            running = false
+          end
+        end
+      else
+        gcs:send_text(0, "nav-script-time: failed to get location")
+      end
+    end
+  else
+    -- no active command
+    running = false
+  end
+
+  return update, 100                        -- update at 10hz
+end
+
+return update()