diff --git a/ArduPlane/Attitude.cpp b/ArduPlane/Attitude.cpp
index 8ed782ef035a8..3daccd0c29d38 100644
--- a/ArduPlane/Attitude.cpp
+++ b/ArduPlane/Attitude.cpp
@@ -500,6 +500,15 @@ void Plane::stabilize()
             plane.stabilize_roll(speed_scaler);
             plane.stabilize_pitch(speed_scaler);
         }
+#endif
+#if ENABLE_SCRIPTING
+    } else if (control_mode == &mode_auto &&
+               mission.get_current_nav_cmd().id == MAV_CMD_NAV_SCRIPT_TIME) {
+        // scripting is in control of roll and pitch rates and throttle
+        const float aileron = rollController.get_rate_out(nav_scripting.roll_rate_dps, speed_scaler);
+        const float elevator = pitchController.get_rate_out(nav_scripting.pitch_rate_dps, speed_scaler);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, aileron);
+        SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, elevator);
 #endif
     } else {
         if (allow_stick_mixing && g.stick_mixing == StickMixing::FBW && control_mode != &mode_stabilize) {
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index d924ef91071bd..ae073014d6484 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -521,6 +521,18 @@ class Plane : public AP_Vehicle {
         float terrain_correction;
     } auto_state;
 
+#if ENABLE_SCRIPTING
+    // support for scripting nav commands, with verify
+    struct {
+        uint16_t id;
+        float roll_rate_dps;
+        float pitch_rate_dps;
+        float throttle_pct;
+        uint32_t start_ms;
+        bool done;
+    } nav_scripting;
+#endif
+
     struct {
         // roll pitch yaw commanded from external controller in centidegrees
         Vector3l forced_rpy_cd;
@@ -932,6 +944,12 @@ class Plane : public AP_Vehicle {
     bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
     float get_wp_radius() const;
 
+#if ENABLE_SCRIPTING
+    // nav scripting support
+    void do_nav_script_time(const AP_Mission::Mission_Command& cmd);
+    bool verify_nav_script_time(const AP_Mission::Mission_Command& cmd);
+#endif
+
     // commands.cpp
     void set_guided_WP(void);
     void update_home();
@@ -1119,6 +1137,17 @@ class Plane : public AP_Vehicle {
     float get_throttle_input(bool no_deadzone=false) const;
     float get_adjusted_throttle_input(bool no_deadzone=false) const;
 
+#ifdef ENABLE_SCRIPTING
+    // support for NAV_SCRIPT_TIME mission command
+    bool nav_scripting_active(void) const;
+    bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2) override;
+    void nav_script_time_done(uint16_t id) override;
+
+    // command throttle percentage and roll, pitch, yaw target
+    // rates. For use with scripting controllers
+    bool set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps) override;
+#endif
+
     enum Failsafe_Action {
         Failsafe_Action_None      = 0,
         Failsafe_Action_RTL       = 1,
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 2d92fba413e6f..c503eb1db6711 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -197,6 +197,12 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
                                             cmd.content.do_engine_control.height_delay_cm*0.01f);
         break;
 
+#if ENABLE_SCRIPTING
+    case MAV_CMD_NAV_SCRIPT_TIME:
+        do_nav_script_time(cmd);
+        break;
+#endif
+        
     default:
         // unable to use the command, allow the vehicle to try the next command
         return false;
@@ -292,6 +298,11 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
     case MAV_CMD_CONDITION_DISTANCE:
         return verify_within_distance();
 
+#if ENABLE_SCRIPTING
+    case MAV_CMD_NAV_SCRIPT_TIME:
+        return verify_nav_script_time(cmd);
+#endif
+        
     // do commands (always return true)
     case MAV_CMD_DO_CHANGE_SPEED:
     case MAV_CMD_DO_SET_HOME:
@@ -1106,3 +1117,78 @@ float Plane::get_wp_radius() const
 #endif
     return g.waypoint_radius;
 }
+
+#if ENABLE_SCRIPTING
+/*
+  support for scripted navigation, with verify operation for completion
+ */
+void Plane::do_nav_script_time(const AP_Mission::Mission_Command& cmd)
+{
+    nav_scripting.done = false;
+    nav_scripting.id++;
+    nav_scripting.start_ms = AP_HAL::millis();
+
+    // start with current roll rate, pitch rate and throttle
+    nav_scripting.roll_rate_dps = plane.rollController.get_pid_info().target;
+    nav_scripting.pitch_rate_dps = plane.pitchController.get_pid_info().target;
+    nav_scripting.throttle_pct = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
+}
+
+/*
+  wait for scripting to say that the mission item is complete
+ */
+bool Plane::verify_nav_script_time(const AP_Mission::Mission_Command& cmd)
+{
+    if (cmd.content.nav_script_time.timeout_s > 0) {
+        const uint32_t now = AP_HAL::millis();
+        if (now - nav_scripting.start_ms > cmd.content.nav_script_time.timeout_s*1000U) {
+            gcs().send_text(MAV_SEVERITY_INFO, "NavScriptTime timed out");
+            nav_scripting.done = true;
+        }
+    }
+    return nav_scripting.done;
+}
+
+// check if we are in a NAV_SCRIPT_* command
+bool Plane::nav_scripting_active(void) const
+{
+    return !nav_scripting.done &&
+            control_mode == &mode_auto &&
+            mission.get_current_nav_cmd().id == MAV_CMD_NAV_SCRIPT_TIME;
+}
+
+// support for NAV_SCRIPTING mission command
+bool Plane::nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2)
+{
+    if (!nav_scripting_active()) {
+        // not in NAV_SCRIPT_TIME
+        return false;
+    }
+    const auto &c = mission.get_current_nav_cmd().content.nav_script_time;
+    id = nav_scripting.id;
+    cmd = c.command;
+    arg1 = c.arg1;
+    arg2 = c.arg2;
+    return true;
+}
+
+// called when script has completed the command
+void Plane::nav_script_time_done(uint16_t id)
+{
+    if (id == nav_scripting.id) {
+        nav_scripting.done = true;
+    }
+}
+
+// support for NAV_SCRIPTING mission command
+bool Plane::set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps)
+{
+    if (!nav_scripting_active()) {
+        return false;
+    }
+    nav_scripting.roll_rate_dps = roll_rate_dps;
+    nav_scripting.pitch_rate_dps = pitch_rate_dps;
+    nav_scripting.throttle_pct = throttle_pct;
+    return true;
+}
+#endif // ENABLE_SCRIPTING
diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index bbd9d304f0934..4dc377a54f2a2 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/ArduPlane/mode_auto.cpp
@@ -86,6 +86,13 @@ void ModeAuto::update()
         } else {
             plane.calc_throttle();
         }
+#if ENABLE_SCRIPTING
+    } else if (nav_cmd_id == MAV_CMD_NAV_SCRIPT_TIME) {
+        // NAV_SCRIPTING has a desired roll and pitch rate and desired throttle
+        plane.nav_roll_cd = plane.ahrs.roll_sensor;
+        plane.nav_pitch_cd = plane.ahrs.pitch_sensor;
+        SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, plane.nav_scripting.throttle_pct);
+#endif
     } else {
         // we are doing normal AUTO flight, the special cases
         // are for takeoff and landing
diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index e24e997b80eb4..0a24d06786eaa 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -406,8 +406,10 @@ bool AP_Mission::replace_cmd(uint16_t index, const Mission_Command& cmd)
 /// is_nav_cmd - returns true if the command's id is a "navigation" command, false if "do" or "conditional" command
 bool AP_Mission::is_nav_cmd(const Mission_Command& cmd)
 {
-    // NAV commands all have ids below MAV_CMD_NAV_LAST except NAV_SET_YAW_SPEED
-    return (cmd.id <= MAV_CMD_NAV_LAST || cmd.id == MAV_CMD_NAV_SET_YAW_SPEED);
+    // NAV commands all have ids below MAV_CMD_NAV_LAST, plus some exceptions
+    return (cmd.id <= MAV_CMD_NAV_LAST ||
+            cmd.id == MAV_CMD_NAV_SET_YAW_SPEED ||
+            cmd.id == MAV_CMD_NAV_SCRIPT_TIME);
 }
 
 /// get_next_nav_cmd - gets next "navigation" command found at or after start_index
@@ -1158,6 +1160,13 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         cmd.content.scripting.p3 = packet.param4;
         break;
 
+    case MAV_CMD_NAV_SCRIPT_TIME:
+        cmd.content.nav_script_time.command = packet.param1;
+        cmd.content.nav_script_time.timeout_s = packet.param2;
+        cmd.content.nav_script_time.arg1 = packet.param3;
+        cmd.content.nav_script_time.arg2 = packet.param4;
+        break;
+        
     default:
         // unrecognised command
         return MAV_MISSION_UNSUPPORTED;
@@ -1610,6 +1619,13 @@ bool AP_Mission::mission_cmd_to_mavlink_int(const AP_Mission::Mission_Command& c
         packet.param4 = cmd.content.scripting.p3;
         break;
 
+    case MAV_CMD_NAV_SCRIPT_TIME:
+        packet.param1 = cmd.content.nav_script_time.command;
+        packet.param2 = cmd.content.nav_script_time.timeout_s;
+        packet.param3 = cmd.content.nav_script_time.arg1;
+        packet.param4 = cmd.content.nav_script_time.arg2;
+        break;
+        
     default:
         // unrecognised command
         return false;
@@ -2328,6 +2344,8 @@ const char *AP_Mission::Mission_Command::type() const
         return "Jump";
     case MAV_CMD_DO_GO_AROUND:
         return "Go Around";
+    case MAV_CMD_NAV_SCRIPT_TIME:
+        return "NavScriptTime";
 
     default:
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index 2575b5e11b7d0..04f2bf16aaacc 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -221,6 +221,14 @@ class AP_Mission
         float p3;
     };
 
+    // Scripting NAV command (with verify)
+    struct PACKED nav_script_time_Command {
+        uint8_t command;
+        uint8_t timeout_s;
+        float arg1;
+        float arg2;
+    };
+    
     union Content {
         // jump structure
         Jump_Command jump;
@@ -291,6 +299,9 @@ class AP_Mission
         // do scripting
         scripting_Command scripting;
 
+        // nav scripting
+        nav_script_time_Command nav_script_time;
+        
         // location
         Location location{};      // Waypoint location
     };
diff --git a/libraries/AP_Scripting/examples/plane_aerobatics.lua b/libraries/AP_Scripting/examples/plane_aerobatics.lua
new file mode 100644
index 0000000000000..d73a8a98c9c58
--- /dev/null
+++ b/libraries/AP_Scripting/examples/plane_aerobatics.lua
@@ -0,0 +1,169 @@
+-- perform simple aerobatic manoeuvres in AUTO mode
+
+local running = false
+
+local roll_stage = 0
+
+local ROLL_TCONST = param:get('RLL2SRV_TCONST') * 0.5
+local PITCH_TCONST = param:get('PTCH2SRV_TCONST') * 0.5
+local TRIM_THROTTLE = param:get('TRIM_THROTTLE') * 1.0
+
+local scr_user1_param = Parameter()
+local scr_user2_param = Parameter()
+local scr_user3_param = Parameter()
+assert(scr_user1_param:init('SCR_USER1'), 'could not find SCR_USER1 parameter')
+assert(scr_user2_param:init('SCR_USER2'), 'could not find SCR_USER2 parameter')
+assert(scr_user3_param:init('SCR_USER3'), 'could not find SCR_USER3 parameter')
+
+local last_roll_err = 0.0
+local last_id = 0
+
+-- find our rudder channel
+local RUDDER_CHAN = SRV_Channels:find_channel(21)
+local RUDDER_TRIM = param:get("SERVO" .. RUDDER_CHAN + 1 .. "_TRIM")
+local RUDDER_REVERSED = param:get("SERVO" .. RUDDER_CHAN + 1 .. "_REVERSED")
+local RUDDER_MIN = param:get("SERVO" .. RUDDER_CHAN + 1 .. "_MIN")
+local RUDDER_MAX = param:get("SERVO" .. RUDDER_CHAN + 1 .. "_MAX")
+local RUDDER_THROW = (RUDDER_MAX - RUDDER_MIN) * 0.5
+
+-- 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
+
+-- a controller to target a zero roll angle, coping with inverted flight
+-- output is a body frame roll rate, with convergence over time tconst in seconds
+function roll_zero_controller(tconst)
+   local roll_deg = math.deg(ahrs:get_roll())
+   local pitch_deg = math.deg(ahrs:get_pitch())
+   local roll_err = 0.0
+   if math.abs(pitch_deg) > 85 then
+      -- close to 90 we retain the last roll rate
+      roll_err = last_roll_err
+   elseif roll_deg > 90 then
+      roll_err = 180 - roll_deg
+   elseif roll_deg < -90 then
+      roll_err = (-180) - roll_deg
+   else
+      roll_err = -roll_deg
+   end
+   last_roll_err = roll_err
+   return roll_err / tconst
+end
+
+-- a controller to target a zero pitch angle
+-- output is a body frame pitch rate, with convergence over time tconst in seconds
+function pitch_controller(target_pitch_deg, tconst)
+   local roll_deg = math.deg(ahrs:get_roll())
+   local pitch_deg = math.deg(ahrs:get_pitch())
+   local pitch_rate = (target_pitch_deg - pitch_deg) * math.cos(math.rad(roll_deg)) / tconst
+   RUDDER_GAIN = scr_user1_param:get()
+   local rudder = pitch_deg * RUDDER_GAIN * math.sin(math.rad(roll_deg)) / tconst
+   return pitch_rate, rudder
+end
+
+-- a controller for throttle to account for pitch
+function throttle_controller(tconst)
+   local pitch_rad = ahrs:get_pitch()
+   local thr_ff = scr_user3_param:get()
+   local throttle = TRIM_THROTTLE + math.sin(pitch_rad) * thr_ff
+   return constrain(throttle, 0.0, 100.0)
+end
+
+function do_axial_roll(arg1, arg2)
+   -- constant roll rate axial roll
+   if not running then
+      running = true
+      roll_stage = 0
+      gcs:send_text(0, string.format("Starting roll"))
+   end
+   local roll_rate = arg1
+   local throttle = arg2
+   local pitch_deg = math.deg(ahrs:get_pitch())
+   local roll_deg = math.deg(ahrs:get_roll())
+   if roll_stage == 0 then
+      if roll_deg > 45 then
+         roll_stage = 1
+      end
+   elseif roll_stage == 1 then
+      if roll_deg > -5 and roll_deg < 5 then
+         running = false
+         -- we're done
+         gcs:send_text(0, string.format("Finished roll r=%.1f p=%.1f", roll_deg, pitch_deg))
+         vehicle:nav_script_time_done(last_id)
+         roll_stage = 2
+         return
+      end
+   end
+   if roll_stage < 2 then
+      target_pitch = scr_user2_param:get()
+      pitch_rate, rudder = pitch_controller(target_pitch, PITCH_TCONST)
+      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, 0)
+      if RUDDER_REVERSED == 1 then
+         rudder = -rudder
+      end
+      local rudder_out = math.floor(RUDDER_TRIM + RUDDER_THROW * rudder)
+      rudder_out = constrain(rudder_out, RUDDER_MIN, RUDDER_MAX)
+      SRV_Channels:set_output_pwm_chan_timeout(RUDDER_CHAN, rudder_out, 50)
+   end
+end
+
+local loop_stage = 0
+
+function do_loop(arg1, arg2)
+   -- do one loop with controllable pitch rate and throttle
+   if not running then
+      running = true
+      loop_stage = 0
+      gcs:send_text(0, string.format("Starting loop"))
+   end
+   local pitch_rate = arg1
+   local throttle = throttle_controller()
+   local pitch_deg = math.deg(ahrs:get_pitch())
+   local roll_deg = math.deg(ahrs:get_roll())
+   if loop_stage == 0 then
+      if pitch_deg > 60 then
+         loop_stage = 1
+      end
+   elseif loop_stage == 1 then
+      if math.abs(roll_deg) < 90 and pitch_deg > -5 and pitch_deg < 5 then
+         running = false
+         -- we're done
+         gcs:send_text(0, string.format("Finished loop p=%.1f", pitch_deg))
+         vehicle:nav_script_time_done(last_id)
+         loop_stage = 2
+         return
+      end
+   end
+   if loop_stage < 2 then
+      local roll_rate = roll_zero_controller(ROLL_TCONST)
+      vehicle:set_target_throttle_rate_rpy(throttle, roll_rate, pitch_rate, 0)
+   end
+end
+
+function update()
+   id, cmd, arg1, arg2 = vehicle:nav_script_time()
+   if id then
+      if id ~= last_id then
+         -- we've started a new command
+         running = false
+         last_id = id
+      end
+      if cmd == 1 then
+         do_axial_roll(arg1, arg2)
+      elseif cmd == 2 then
+         do_loop(arg1, arg2)
+      end
+   else
+      running = false
+   end
+   return update, 10
+end
+
+return update()
diff --git a/libraries/AP_Scripting/generator/description/bindings.desc b/libraries/AP_Scripting/generator/description/bindings.desc
index b11c264c6dec1..41857894687e5 100644
--- a/libraries/AP_Scripting/generator/description/bindings.desc
+++ b/libraries/AP_Scripting/generator/description/bindings.desc
@@ -218,6 +218,9 @@ singleton AP_Vehicle method get_wp_distance_m boolean float'Null
 singleton AP_Vehicle method get_wp_bearing_deg boolean float'Null
 singleton AP_Vehicle method get_wp_crosstrack_error_m boolean float'Null
 singleton AP_Vehicle method get_pan_tilt_norm boolean float'Null float'Null
+singleton AP_Vehicle method nav_script_time boolean uint16_t'Null uint8_t'Null float'Null float'Null
+singleton AP_Vehicle method nav_script_time_done void uint16_t'skip_check
+singleton AP_Vehicle method set_target_throttle_rate_rpy boolean float -100 100 float'skip_check float'skip_check float'skip_check
 
 include AP_SerialLED/AP_SerialLED.h
 singleton AP_SerialLED alias serialLED
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 22a3c7a6246da..bb071980107e2 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -201,6 +201,10 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
     virtual bool set_target_velaccel_NED(const Vector3f& target_vel, const Vector3f& target_accel, bool use_yaw, float yaw_deg, bool use_yaw_rate, float yaw_rate_degs, bool yaw_relative) { return false; }
     virtual bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) { return false; }
 
+    // command throttle percentage and roll, pitch, yaw target
+    // rates. For use with scripting controllers
+    virtual bool set_target_throttle_rate_rpy(float throttle_pct, float roll_rate_dps, float pitch_rate_dps, float yaw_rate_dps) { return false; }
+
     // get target location (for use by scripting)
     virtual bool get_target_location(Location& target_loc) { return false; }
 
@@ -210,6 +214,11 @@ class AP_Vehicle : public AP_HAL::HAL::Callbacks {
 
     // set steering and throttle (-1 to +1) (for use by scripting with Rover)
     virtual bool set_steering_and_throttle(float steering, float throttle) { return false; }
+
+    // support for NAV_SCRIPT_TIME mission command
+    virtual bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2) { return false; }
+    virtual void nav_script_time_done(uint16_t id) {}
+
 #endif // ENABLE_SCRIPTING
 
 
diff --git a/modules/mavlink b/modules/mavlink
index 5de39eb56f855..6bcbd853aeb9a 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 5de39eb56f8559343a079e5a44259745e01e1227
+Subproject commit 6bcbd853aeb9a40c4a61ea26d9876b969cb366a2