diff --git a/libraries/AP_Scripting/examples/set-target-velocity.lua b/libraries/AP_Scripting/examples/set-target-velocity.lua
new file mode 100644
index 0000000000..61c87ab5cc
--- /dev/null
+++ b/libraries/AP_Scripting/examples/set-target-velocity.lua
@@ -0,0 +1,99 @@
+-- command a Copter to takeoff to 10m and fly a square pattern
+--
+-- CAUTION: This script only works for Copter
+-- this script waits for the vehicle to be armed and RC6 input > 1800 and then:
+--    a) switches to Guided mode
+--    b) takeoff to 10m
+--    c) flies a 20m x 20m square pattern using the velocity controller
+--    d) switches to RTL mode
+
+local takeoff_alt_above_home = 10
+local copter_guided_mode_num = 4
+local copter_rtl_mode_num = 6
+local stage = 0
+local bottom_left_loc   -- vehicle location when starting square
+local square_side_length = 20   -- length of each side of square
+
+-- the main update function that uses the takeoff and velocity controllers to fly a rough square pattern
+function update()
+  if not arming:is_armed() then -- reset state when disarmed
+    stage = 0
+  else
+    pwm6 = rc:get_pwm(6)
+    if pwm6 and pwm6 > 1800 then    -- check if RC7 input has moved high
+      if (stage == 0) then          -- change to guided mode
+        if (vehicle:set_mode(copter_guided_mode_num)) then     -- change to Guided mode
+          stage = stage + 1
+        end
+      elseif (stage == 1) then      -- Stage1: takeoff
+        if (vehicle:start_takeoff(takeoff_alt_above_home)) then
+          stage = stage + 1
+        end
+      elseif (stage == 2) then      -- Stage2: check if vehicle has reached target altitude
+        local home = ahrs:get_home()
+        local curr_loc = ahrs:get_position()
+        if home and curr_loc then
+          local vec_from_home = home:get_distance_NED(curr_loc)
+          gcs:send_text(0, "alt above home: " .. tostring(math.floor(-vec_from_home:z())))
+          if (math.abs(takeoff_alt_above_home + vec_from_home:z()) < 1) then
+            stage = stage + 1
+            bottom_left_loc = curr_loc          -- record location when starting square
+          end
+        end
+      elseif (stage >= 3 and stage <= 6) then   -- fly a square using velocity controller
+        local curr_loc = ahrs:get_position()
+        local target_vel = Vector3f()           -- create velocity vector
+        if (bottom_left_loc and curr_loc) then
+          local dist_NE = bottom_left_loc:get_distance_NE(curr_loc)
+
+          -- Stage3 : fly North at 2m/s
+          if (stage == 3) then
+            target_vel:x(2)
+            if (dist_NE:x() >= square_side_length) then
+              stage = stage + 1
+            end
+          end
+
+          -- Stage4 : fly East at 2m/s
+          if (stage == 4) then
+            target_vel:y(2) 
+            if (dist_NE:y() >= square_side_length) then
+              stage = stage + 1
+            end
+          end
+
+          -- Stage5 : fly South at 2m/s
+          if (stage == 5) then
+            target_vel:x(-2)
+            if (dist_NE:x() <= 2) then
+              stage = stage + 1
+            end
+          end
+
+          -- Stage6 : fly West at 2m/s
+          if (stage == 6) then
+            target_vel:y(-2)
+            if (dist_NE:y() <= 2) then
+              stage = stage + 1
+            end
+          end
+
+          -- send velocity request
+          if (vehicle:set_target_velocity_NED(target_vel)) then   -- send target velocity to vehicle
+            gcs:send_text(0, "pos:" .. tostring(math.floor(dist_NE:x())) .. "," .. tostring(math.floor(dist_NE:y())) .. " sent vel x:" .. tostring(target_vel:x()) .. " y:" .. tostring(target_vel:y()))
+          else
+            gcs:send_text(0, "failed to execute velocity command")
+          end
+        end
+      elseif (stage == 7) then  -- Stage7: change to RTL mode
+        vehicle:set_mode(copter_rtl_mode_num)
+        stage = stage + 1
+        gcs:send_text(0, "finished square, switching to RTL")
+      end
+    end
+  end
+
+  return update, 1000
+end
+
+return update()