diff --git a/libraries/AP_Scripting/examples/mission-edit-demo.lua b/libraries/AP_Scripting/examples/mission-edit-demo.lua
new file mode 100644
index 0000000000..d356e65bba
--- /dev/null
+++ b/libraries/AP_Scripting/examples/mission-edit-demo.lua
@@ -0,0 +1,283 @@
+-- mission editing demo lua script.
+-- by Buzz 2020
+current_pos = nil
+home = 0
+a = {}
+demostage = 0 
+eventcounter = 0
+
+function update () -- periodic function that will be called
+    current_pos = ahrs:get_position()
+
+  -- adds new/extra mission item at the end by copying the last one and modifying it
+  -- get number of last mission item
+  wp_num = mission:num_commands()-1
+  --get last item from mission
+  m = mission:get_item(wp_num) 
+  -- get first item from mission
+  m1 = mission:get_item(1) 
+
+  if wp_num >  0 then
+    gcs:send_text(0, string.format("LUA - Please clear misn to continue demo. size:%d",wp_num+1))
+    return update, 1000
+  end
+
+  -- no mission, just home at [0] means user has cleared any mission in the system, and this demo is clear to write something new.
+  -- it's not required that the mission be empty before we do things, but this script is multi-stage demo so its conveneient
+  if ( mission:num_commands() == 1) then
+      if demostage == 0  then
+            demostage = 1
+            gcs:send_text(0, string.format("LUA demo stage 1 starting"))
+            return stage1, 1000
+      end 
+      if demostage == 2  then
+            demostage = 3
+            gcs:send_text(0, string.format("LUA demo stage 3 starting"))
+            return stage3, 1000
+      end
+      if demostage == 4  then
+            demostage = 5
+            gcs:send_text(0, string.format("LUA demo stage 5 starting"))
+            return stage5, 1000
+      end
+      if demostage == 6  then
+            demostage = 7
+            gcs:send_text(0, string.format("LUA demo stage 7 starting"))
+            return stage7, 1000
+      end
+      if demostage == 8  then
+            demostage = 9
+            gcs:send_text(0, string.format("LUA MISSION demo all COMPLETED."))
+            --return update, 1000
+      end
+  end
+  return update, 1000
+end
+
+function read_table_from_sd()
+    -- Opens a file in read mode
+    file = io.open("miss.txt", "r")
+    -- sets the default input file as xxxx.txt
+    io.input(file)
+
+    -- read whole file, or get empty string
+    content = io.read("*all")
+    
+    if (content == nil) then
+        gcs:send_text(0, string.format("file not found, skipping read of miss.txt from sd"))
+        return update(), 1000
+    end
+
+    local pat = "wp:(%S+)%s+lat:(%S+)%s+lon:(%S+)%s+alt:(%S+)"
+    for s1, s2 ,s3,s4 in string.gmatch(content, pat) do
+        --s = string.format("wp:%s lat:%s lon:%s alt:%s",s1,s2,s3,s4)
+        --gcs:send_text(0, s)
+        n1 = tonumber(s1)
+        n2 = math.floor(tonumber(s2*10000000))
+        n3 = math.floor(tonumber(s3*10000000))
+        n4 = tonumber(s4)
+
+        -- use previous item as template...
+        m = mission:get_item(mission:num_commands()-1)
+        m:command(16) -- 16 = normal WAYPOINT
+        m:x(n2)
+        m:y(n3)
+        m:z(n4)
+        -- write as a new item to the end of the list.
+        mission:set_item(mission:num_commands(),m)
+    end
+
+    gcs:send_text(0, '...loaded file from SD')
+
+    -- closes the open file
+    io.close(file)
+
+  return update(), 1000
+end
+
+function stage1 ()
+  -- demo stage 1 implementation.
+  if (demostage == 1 ) and ( mission:num_commands() == 1 )  then
+    demostage = 2
+    return read_table_from_sd(), 1000
+  end
+
+end
+
+function stage3 ()
+  -- demo stage 3 implementation.
+  --get number of 'last' mission item
+  wp_num = mission:num_commands()-1
+  -- get HOME item from mission as the 'reference' for future items
+  m1 = mission:get_item(0) 
+  --get last item from mission
+  m = mission:get_item(wp_num) 
+  if (demostage == 3 ) then
+      -- demo stage 3 starts by writing 10 do-JUMPS over 10 seconds, just for fun
+      if mission:num_commands() < 10  then
+          m:command(177) -- 177 =  DO_JUMP
+          m:param1(m:param1()+1) -- some increments for fun/demo
+          m:param2(m:param2()+1)
+          gcs:send_text(0, string.format("LUA new miss-item DO_JUMP %d ", wp_num+1))
+          mission:set_item(mission:num_commands(),m)
+          return stage3, 100 -- stay in stage 3 for now
+      end
+
+      -- change copy of last item slightly, for giggles and demo.
+      -- This is reading a copy of whatever is currently the last item in the mission, do_jump
+      --  and changing/ensuring its type is a 'normal' waypoint, and setting its lat/long/alt
+      --  to data we earlier took from HOME, adding an offset and then writing it 
+      --  as a NEW mission item at the end 
+      if mission:num_commands() == 10 then
+          m:command(16) -- 16 = normal WAYPOINT
+          m:x(m1:x()+200)
+          m:y(m1:y()+200)
+          m:z(m1:z()+1)
+          gcs:send_text(0, string.format("LUA new miss-item WAYPOINT a %d ", wp_num+1))
+          mission:set_item(mission:num_commands(),m)
+          return stage3, 100 -- stay in stage 3 for now
+      end
+
+      -- change copy of last item slightly, for giggles, and append as a new item
+      if (mission:num_commands() > 10) and (mission:num_commands() < 20) then
+          m:command(16) -- 16 = normal WAYPOINT
+          m:x(m:x()+200)
+          m:y(m:y()+200)
+          m:z(m:z()+1)
+          gcs:send_text(0, string.format("LUA new miss-item WAYPOINT b %d ", wp_num+1))
+          mission:set_item(mission:num_commands(),m)
+          return stage3, 100 -- stay in stage 3 for now
+      end
+
+      -- change copy of last item slightly, for giggles.
+      if (mission:num_commands() >= 20) and (mission:num_commands() < 30) then
+          m:command(16) -- 16 = normal WAYPOINT
+          m:x(m:x()+200)
+          m:y(m:y()+200)
+          m:z(m:z()+1)
+          gcs:send_text(0, string.format("LUA new miss-item WAYPOINT c %d ", wp_num+1))
+          mission:set_item(mission:num_commands(),m)
+          return stage3, 100 -- stay in stage 3 for now
+      end
+      -- move on at end of this dempo stage
+      if (mission:num_commands() >= 30) then
+          gcs:send_text(0, string.format("LUA DEMO stage 3 done. ", wp_num+1))
+          demostage = 4
+          return update, 100 -- drop to next stage via an update() call
+      end
+  end
+
+end
+
+function stage5 ()
+  -- demo stage 5 implementation for when there's only one wp , HOME, in th system
+  if (demostage == 5 ) then 
+      -- when no mission, uses home as reference point, otherwise its the 'last item'
+      m = mission:get_item(mission:num_commands()-1)
+      m:x(m:x())
+      m:y(m:y()-400)
+      m:z(m:z())
+      mission:set_item(1,m)
+      gcs:send_text(0, string.format("LUA mode 5 single wp nudge %d",eventcounter))
+      eventcounter = eventcounter+1
+      if eventcounter > 50 then
+          demostage = 6
+          eventcounter = 0
+          gcs:send_text(0, string.format("LUA DEMO stage 5 done. "))
+          return update, 100 -- drop to next stage via an update() call
+      end
+      return stage5, 100 -- stay in stage 3 for now
+  end
+
+end
+
+function stage7 ()
+  -- demo stage 5 implementation for when there's more than wp in the system
+  if (demostage == 7 ) then --and (mission:num_commands() >= 3) and (mission:num_commands() < 50) then
+      -- fiurst time in , there's no mission, lets throw a few wps in to play with later..
+      -- change copy of last item slightly, for giggles, and append as a new item
+      if (mission:num_commands() == 1)  then
+          for x = 1, 10 do 
+              m:command(16) -- 16 = normal WAYPOINT
+              m:x(m:x()+math.random(-10000,10000)) -- add something random 
+              m:y(m:y()+math.random(-10000,10000)) 
+              m:z(m:z()+1)
+              gcs:send_text(0, string.format("LUA stage 7 making 10 new nearby random wp's %d ", wp_num+1))
+              mission:set_item(mission:num_commands(),m)
+          end
+          gcs:send_text(0, string.format("LUA scattering complete. %d ", wp_num+1))
+          return stage7, 100 -- stay in stage 3 for now
+      end
+ 
+    -- things that are further away from this one than distance X..
+    m1 = mission:get_item(1)
+
+    -- leave item 0 alone, always
+    for x = 1, mission:num_commands()-1 do 
+
+        mitem = mission:get_item(x)
+
+        -- look at each mission item above 1, and get the distance from it to the copter.
+        local target = Location()
+        target:lat(mitem:x())
+        target:lng(mitem:y())
+        local cur_d = current_pos:get_distance(target)
+        
+        if cur_d > 100 then
+            if mitem:x() > m1:x() then
+                 mitem:x(mitem:x()+400)           
+            end
+            if mitem:x() < m1:x() then
+                 mitem:x(mitem:x()-400)  
+            end
+            if mitem:y() > m1:y() then
+                 mitem:y(mitem:y()+400)        
+            end
+            if mitem:y() < m1:y() then
+                 mitem:y(mitem:y()-400)         
+            end
+        end
+
+        -- write as a new item to the end of the list.
+        mission:set_item(x,mitem)
+    end
+    gcs:send_text(0, string.format("LUA mode 7 scattering existing wp's.. %d",eventcounter))
+  end
+
+  -- do it 50 times then consider it done
+  eventcounter = eventcounter+1
+  if eventcounter > 50 then
+          demostage = 8
+          eventcounter = 0
+          gcs:send_text(0, string.format("LUA DEMO stage 7 done. "))
+          return update, 100 -- drop to next stage via an update() call
+  end
+
+  return stage7, 500
+end
+
+function wait_for_home()
+  current_pos = ahrs:get_position()
+  if current_pos == nil then
+     return wait_for_home, 1000
+  end
+
+  home = ahrs:get_home()
+  if home == nil then
+     return wait_for_home, 1000
+  end
+  if home:lat() == 0 then
+     return wait_for_home, 1000
+  end
+
+  gcs:send_text(0, string.format("LUA MISSION Waiting for Home."))
+
+  return update, 1000
+end
+
+function delayed_boot()
+    gcs:send_text(0, string.format("LUA MISSION DEMO START"))
+    return wait_for_home, 1000
+end
+return delayed_boot, 5000 
+