diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 3ecbc871cc..fb10d75c03 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -5125,7 +5125,61 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         if ex is not None:
             raise ex
 
+    def test_scripting_print_home_and_origin(self):
+        self.start_subtest("Scripting print home and origin")
+
+        self.context_push()
+
+        ex = None
+        example_script = "ahrs-print-home-and-origin.lua"
+        try:
+            self.set_parameter("SCR_ENABLE", 1)
+            self.install_example_script(example_script)
+            self.reboot_sitl()
+            self.wait_ready_to_arm()
+            self.wait_statustext("Home - ")
+            self.wait_statustext("Origin - ")
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        self.remove_example_script(example_script)
+
+        self.context_pop()
+
+        self.reboot_sitl()
+
+        if ex is not None:
+            raise ex
+
+    def test_scripting_set_home_to_vehicle_location(self):
+        self.start_subtest("Scripting set home to vehicle location")
+
+        self.context_push()
+
+        ex = None
+        example_script = "ahrs-set-home-to-vehicle-location.lua"
+        try:
+            self.set_parameter("SCR_ENABLE", 1)
+            self.install_example_script(example_script)
+            self.reboot_sitl()
+            self.wait_statustext("Home position reset")
+        except Exception as e:
+            self.print_exception_caught(e)
+            ex = e
+
+        self.remove_example_script(example_script)
+
+        self.context_pop()
+
+        self.reboot_sitl()
+
+        if ex is not None:
+            raise ex
+
     def test_scripting(self):
+        self.test_scripting_set_home_to_vehicle_location()
+        self.test_scripting_print_home_and_origin()
         self.test_scripting_hello_world()
         self.test_scripting_simple_loop()
         self.test_scripting_internal_test()