diff --git a/libraries/AP_Scripting/examples/hereproled.lua b/libraries/AP_Scripting/examples/hereproled.lua
new file mode 100644
index 0000000000..3e4bc637ea
--- /dev/null
+++ b/libraries/AP_Scripting/examples/hereproled.lua
@@ -0,0 +1,314 @@
+-- This script is a test of led override
+
+local count = 0
+local num_leds = 16
+local total_time = 1
+local animation_end = 0
+local current_anim = 0
+
+-- constrain a value between limits
+function constrain(v, vmin, vmax)
+  if v < vmin then
+     v = vmin
+  end
+  if v > vmax then
+     v = vmax
+    
+  end
+  return v
+end
+
+--[[
+Table of neon colors on a rainbow, red first
+--]]
+-- local rainbow = {
+--   { 252, 23, 0 },
+--   { 253, 72, 37 },
+--   { 250, 237, 39 },
+--   { 51,   255, 20 },
+--   { 27,   3,   163 }
+-- }
+
+local rainbow = {
+  { 252, 23, 0 },
+  { 253, 100, 0 },
+  { 250, 237, 0 },
+  { 51,   255, 20 },
+  { 27,   3,   163 }
+}
+
+local led_map = {
+  14,
+  15,
+  2,
+  3,
+  4,
+  5,
+  6,
+  7,
+  8,
+  9,
+  1,
+  0,
+  10,
+  11,
+  12,
+  13}
+
+function table.contains(table, element)
+  for _, value in pairs(table) do
+    if value == element then
+      return true
+    end
+  end
+  return false
+end
+
+--[[
+Function to set a LED to a color on a classic rainbow spectrum, with v=0 giving red
+--]]
+function get_Rainbow(v, num_rows)
+  local row = math.floor(constrain(v * (num_rows-1)+1, 1, num_rows-1))
+  local v0 = (row-1) / (num_rows-1)
+  local v1 = row / (num_rows-1)
+  local p = (v - v0) / (v1 - v0)
+  r = math.max(math.floor(rainbow[row][1] + p * (rainbow[row+1][1] - rainbow[row][1])),0)
+  g = math.max(math.floor(rainbow[row][2] + p * (rainbow[row+1][2] - rainbow[row][2])),0)
+  b = math.max(math.floor(rainbow[row][3] + p * (rainbow[row+1][3] - rainbow[row][3])),0)
+  return r,g,b
+end
+
+function do_initialisation()
+  local pos = math.rad(total_time/2)
+  local v  =0.5 + 0.5 * math.sin(pos)
+  local invert = 1
+  local r, g, b = get_Rainbow(v, 5)
+  local led_trail_length = 3
+  local softness = 10
+  local bfact = 1
+  local updated_leds = {}
+  if math.cos(pos) > 0 then
+    invert = 1
+  else
+    invert = 0
+  end
+
+  pos = math.floor(6 + (v*8))%16
+  if pos == 6 then
+    animation_end = 1
+  else
+    animation_end = 0
+  end
+
+  for trail = 0, led_trail_length-1 do
+    if invert == 1 then
+      bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
+    else
+      bfact = softness^(2*trail/(led_trail_length-1))
+    end
+    local led_id = 1 + ((pos + trail) % num_leds)
+    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
+    table.insert(updated_leds, led_id)
+  end
+
+  pos = math.floor(6 - (v*8))%16
+  for trail = 0, led_trail_length-1 do
+    if invert == 0 then
+      bfact = softness^(2*(led_trail_length - 1 - trail)/(led_trail_length-1))
+    else
+      bfact = softness^(2*trail/(led_trail_length-1))
+    end
+    local led_id = 1 + ((pos + trail) % num_leds)
+    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
+    table.insert(updated_leds, led_id)
+  end
+
+  for led = 1, num_leds do
+    if not table.contains(updated_leds, led) then
+      notify:handle_rgb_id(0, 0, 0, led_map[led])
+    end
+  end
+end
+
+function do_point_north(r, g, b, led_trail_length, softness)
+  local north_bias = 4
+  local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
+  local ofs = yaw - math.floor(yaw+0.5)
+  yaw = math.floor(yaw+0.5) % 16
+  local updated_leds = {}
+  for trail = 0, led_trail_length-1 do
+    local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail + ofs))/(led_trail_length-1))
+    local led_id = 1 + ((yaw + trail) % 16)
+    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
+    table.insert(updated_leds, led_id)
+  end
+
+  for led = 1, num_leds do
+    if not table.contains(updated_leds, led) then
+      notify:handle_rgb_id(0, 0, 0, led_map[led])
+    end
+  end
+  return yaw
+end
+
+function finish_initialisation(r, g, b, led_trail_length, softness, speed_factor, next_call)
+  local north_bias = 4
+  local yaw = 8 - ((16 * periph:get_yaw_earth()/(2*math.pi))) - north_bias
+  yaw = math.floor(yaw+0.5) % 16
+  local led_id = math.floor((count/speed_factor) + north_bias) % 16
+  if yaw == led_id then
+    if total_time > 3000 then
+      animation_end = 1
+    end
+    return
+  end
+  count = count + next_call
+  local updated_leds = {}
+  for trail = 0, led_trail_length-1 do
+    local bfact = softness^(2*(math.abs((led_trail_length-1)/2 - trail))/(led_trail_length-1))
+    local this_led_id = 1 + ((led_id + trail) % 16)
+    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[this_led_id])
+    table.insert(updated_leds, this_led_id)
+  end
+
+  for led = 1, num_leds do
+    if not table.contains(updated_leds, led) then
+      notify:handle_rgb_id(0, 0, 0, led_map[led])
+    end
+  end
+end
+
+function do_arm_spin(r, g, b, softness, speed_factor, arming)
+  -- reset led states
+  local updated_leds = {}
+
+  -- calculate next call based on time
+  local next_call = 1
+  if arming then
+    next_call = speed_factor - math.floor(((total_time)/speed_factor) + 0.5)
+    if next_call < 1 then
+      return next_call
+    end
+  else
+    next_call = 1 + math.floor(((total_time)/speed_factor) + 0.5)
+    if next_call > speed_factor then
+      return next_call
+    end
+  end
+  -- set trail length bassed on spin progress
+  local led_trail_length =  3 + (13 * (1 - (next_call/75)))
+
+
+  -- create a trail
+  for trail = 0, led_trail_length-1 do
+    local bfact = softness^(led_trail_length - trail)
+    local led_id = 1 + (count + trail) % 16
+    notify:handle_rgb_id(math.floor(r/bfact), math.floor(g/bfact), math.floor(b/bfact), led_map[led_id])
+    table.insert(updated_leds, led_id)
+  end
+
+  for led = 1, num_leds do
+    if not table.contains(updated_leds, led) then
+      notify:handle_rgb_id(0, 0, 0, led_map[led])
+    end
+  end
+  return next_call
+end
+
+function set_all(r, g, b)
+  for led = 1, num_leds do
+    notify:handle_rgb_id(r, g, b, led_map[led])
+  end
+end
+
+function animation_state_machine(vehicle_state)
+  -- change state only when last loop finished
+  if animation_end == 0 then
+    return
+  end
+
+  if ((vehicle_state & 1) == uint32_t(1)) then
+    -- do_initialisation
+    if current_anim ~= 0 then
+      current_anim = 0
+      total_time = 0
+      animation_end = 0
+    end
+  elseif current_anim == 0 then
+    -- do finish by move to north
+    count = 0
+    total_time = 0
+    current_anim = 1
+    animation_end = 0
+  elseif current_anim == 1 then
+    -- do always point north
+    current_anim = 2
+  elseif current_anim ~= 3 and ((vehicle_state & (1 << 1)) ~= uint32_t(0)) then --VEHICLE_STATE_ARMED
+    total_time = 0
+    current_anim = 3
+    animation_end = 0
+  elseif current_anim == 3 and ((vehicle_state & (1 << 1)) == uint32_t(0)) then
+    total_time = 0
+    current_anim = 4
+    animation_end = 0
+  elseif current_anim == 4 then
+    current_anim = 1
+  end
+end
+
+function update() -- this is the loop which periodically runs
+  local next_call = 20
+  local vehicle_state = periph:get_vehicle_state()
+  animation_state_machine(vehicle_state)
+
+  -- Initialisation
+  if current_anim == 0 then
+    do_initialisation()
+    total_time = total_time + next_call
+  elseif current_anim == 1 then
+    finish_initialisation(rainbow[1][1], rainbow[1][2], rainbow[1][3], 5, 20, 50, next_call)
+    total_time = total_time + next_call
+  elseif current_anim == 2 then
+    local v
+    if (vehicle_state & (1<<3)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM
+       (vehicle_state & (1<<4)) ~= uint32_t(0) or --VEHICLE_STATE_PREARM_GPS
+       (vehicle_state & (1<<7)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_RADIO
+       (vehicle_state & (1<<8)) ~= uint32_t(0) or --VEHICLE_STATE_FAILSAFE_BATT
+       (vehicle_state & (1<<11)) ~= uint32_t(0) then --VEHICLE_STATE_EKF_BAD
+      v = 0.0
+    end
+    if (vehicle_state & (1<<17)) == uint32_t(0) then--VEHICLE_STATE_POS_ABS_AVAIL
+      v = 0.5 + (0.5 * math.min(gps:num_sats(0)/20, 1.0))
+    else
+      v = 1.0
+    end
+    local r, g, b = get_Rainbow(v, 4)
+    count = do_point_north(r, g, b, 5, 20)
+  -- --[[ ARM Display
+  elseif current_anim == 3 then
+    if animation_end == 0 then
+      next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, true)
+      count = count + 1
+    end
+    if next_call < 1 then
+      set_all(rainbow[4][1], rainbow[4][2], rainbow[4][3])
+      animation_end = 1
+    else
+      total_time = total_time + next_call
+    end
+  elseif current_anim == 4 then
+    if animation_end == 0 then
+      next_call = do_arm_spin(rainbow[4][1], rainbow[4][2], rainbow[4][3], 2, 75, false)
+      count = count - 1
+    end
+    if next_call > 75 then
+      animation_end = 1
+    else
+      total_time = total_time + next_call
+    end
+  end
+  -- gcs:send_text(0, string.format("NCALL: %s", tostring(next_call)))
+  return update, next_call -- reschedules the loop in next_call milliseconds
+end
+
+return update() -- run immediately before starting to reschedule
\ No newline at end of file