diff --git a/flight/OpenPilot/System/inc/FreeRTOSConfig.h b/flight/OpenPilot/System/inc/FreeRTOSConfig.h
index 8027ecd0f..f82ab3875 100644
--- a/flight/OpenPilot/System/inc/FreeRTOSConfig.h
+++ b/flight/OpenPilot/System/inc/FreeRTOSConfig.h
@@ -71,6 +71,16 @@ configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
 NVIC value of 255. */
 #define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15
 
+/* Enable run time stats collection */
+#if defined(DEBUG)
+#define configGENERATE_RUN_TIME_STATS 1
+#define INCLUDE_uxTaskGetRunTime 1
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()  
+// Note: Using the tick count defeats the purpose here, need some timer on the scale of 10khz
+#define portGET_RUN_TIME_COUNTER_VALUE()  xTaskGetTickCount()
+#endif
+
+
 /**
   * @}
   */
diff --git a/flight/OpenPilot/System/taskmonitor.c b/flight/OpenPilot/System/taskmonitor.c
index 47f64f93b..b4dc65a68 100644
--- a/flight/OpenPilot/System/taskmonitor.c
+++ b/flight/OpenPilot/System/taskmonitor.c
@@ -39,7 +39,7 @@ static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
 // Private functions
 
 /**
- * Initialize library
+ * Initialize library
  */
 int32_t TaskMonitorInitialize(void)
 {
@@ -49,7 +49,7 @@ int32_t TaskMonitorInitialize(void)
 }
 
 /**
- * Register a task handle with the library
+ * Register a task handle with the library
  */
 int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
 {
@@ -85,7 +85,7 @@ int32_t TaskMonitorRemove(TaskInfoRunningElem task)
 }
 
 /**
- * Update the status of all tasks
+ * Update the status of all tasks
  */
 void TaskMonitorUpdateAll(void)
 {
@@ -105,7 +105,12 @@ void TaskMonitorUpdateAll(void)
 			data.StackRemaining[n] = 10000;
 #else
 			data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
+#if ( configGENERATE_RUN_TIME_STATS == 1 )			
+			/* Generate run time stats */
+			data.RunningTime[n] = uxTaskGetRunTime(handles[n]);
 #endif
+#endif
+			
 		}
 		else
 		{
diff --git a/shared/uavobjectdefinition/taskinfo.xml b/shared/uavobjectdefinition/taskinfo.xml
index 4542e1b1c..4315c7c38 100644
--- a/shared/uavobjectdefinition/taskinfo.xml
+++ b/shared/uavobjectdefinition/taskinfo.xml
@@ -3,6 +3,7 @@
         <description>Task information</description>
         <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
 	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
+	<field name="RunningTime" units="µs" type="uint16" elementnames="System,Actuator,Attitude,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,AHRSComms,Stabilization,Guidance,FlightPlan"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="periodic" period="10000"/>