diff --git a/flight/libraries/inc/instrumentation.h b/flight/libraries/inc/instrumentation.h
new file mode 100644
index 000000000..f6734ab0b
--- /dev/null
+++ b/flight/libraries/inc/instrumentation.h
@@ -0,0 +1,34 @@
+/**
+ ******************************************************************************
+ *
+ * @file       instrumentation.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      brief goes here.
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef INSTRUMENTATION_H
+#define INSTRUMENTATION_H
+#include <perfcounter.h>
+
+void InstrumentationInit();
+
+void InstrumentationPublishAllCounters();
+
+#endif /* INSTRUMENTATION_H */
diff --git a/flight/libraries/instrumentation.c b/flight/libraries/instrumentation.c
new file mode 100644
index 000000000..927fcc7af
--- /dev/null
+++ b/flight/libraries/instrumentation.c
@@ -0,0 +1,62 @@
+/**
+ ******************************************************************************
+ *
+ * @file       instrumentation.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
+ * @brief      brief goes here.
+ *             --
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <openpilot.h>
+#include <instrumentation.h>
+#include <pios_instrumentation.h>
+
+static uint8_t publishedCountersInstances = 0;
+static void counterCallback(const pios_perf_counter_t *counter, const int8_t index, void *context);
+static xSemaphoreHandle sem;
+void InstrumentationInit()
+{
+    PerfCounterInitialize();
+    publishedCountersInstances = 1;
+    vSemaphoreCreateBinary(sem);
+}
+
+void InstrumentationPublishAllCounters()
+{
+    if (xSemaphoreTake(sem, 0) != pdTRUE) {
+        return;
+    }
+    PIOS_Instrumentation_ForEachCounter(&counterCallback, NULL);
+    xSemaphoreGive(sem);
+}
+
+void counterCallback(const pios_perf_counter_t *counter, const int8_t index, __attribute__((unused)) void *context)
+{
+    if (publishedCountersInstances < index) {
+        PerfCounterCreateInstance();
+        publishedCountersInstances++;
+    }
+    PerfCounterData data;
+    data.Id = counter->id;
+    data.Counter.Max   = counter->max;
+    data.Counter.Min   = counter->min;
+    data.Counter.Value = counter->value;
+    PerfCounterInstSet(index, &data);
+}
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
index 3b8a61432..0f08a3536 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
@@ -126,7 +126,8 @@ HEADERS += \
     $$UAVOBJECT_SYNTHETICS/waypoint.h \
     $$UAVOBJECT_SYNTHETICS/waypointactive.h \
     $$UAVOBJECT_SYNTHETICS/mpu6000settings.h \
-    $$UAVOBJECT_SYNTHETICS/takeofflocation.h
+    $$UAVOBJECT_SYNTHETICS/takeofflocation.h \
+    $$UAVOBJECT_SYNTHETICS/perfcounter.h
 
 SOURCES += \
     $$UAVOBJECT_SYNTHETICS/accelgyrosettings.cpp \
@@ -229,4 +230,6 @@ SOURCES += \
     $$UAVOBJECT_SYNTHETICS/waypoint.cpp \
     $$UAVOBJECT_SYNTHETICS/waypointactive.cpp \
     $$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp \
-    $$UAVOBJECT_SYNTHETICS/takeofflocation.cpp
+    $$UAVOBJECT_SYNTHETICS/takeofflocation.cpp \
+    $$UAVOBJECT_SYNTHETICS/perfcounter.cpp
+    
diff --git a/shared/uavobjectdefinition/perfcounter.xml b/shared/uavobjectdefinition/perfcounter.xml
new file mode 100644
index 000000000..cad949197
--- /dev/null
+++ b/shared/uavobjectdefinition/perfcounter.xml
@@ -0,0 +1,11 @@
+<xml>
+    <object name="PerfCounter" singleinstance="false" settings="false" category="System">
+        <description>A single performance counter, used to instrument flight code</description>
+        <field name="Id" units="" type="uint32" elements="1" />
+        <field name="Counter" units="" type="int32" elementnames="Value, Min, Max"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="manual" period="0"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>