diff --git a/flight/targets/boards/discoveryf4bare/firmware/Makefile b/flight/targets/boards/discoveryf4bare/firmware/Makefile
index 7472d176a..608d2b6cf 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/Makefile
+++ b/flight/targets/boards/discoveryf4bare/firmware/Makefile
@@ -75,12 +75,14 @@ ifndef TESTAPP
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c
+    
     #ifeq ($(DEBUG), YES)
     SRC += $(OPSYSTEM)/dcc_stdio.c
     SRC += $(OPSYSTEM)/cm3_fault_handlers.c
     #endif
 
     ## Misc library functions
+    SRC += $(FLIGHTLIB)/instrumentation.c
     SRC += $(FLIGHTLIB)/paths.c
 	SRC += $(FLIGHTLIB)/plans.c
     SRC += $(FLIGHTLIB)/WorldMagModel.c
diff --git a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
index 3905af42f..49867c39e 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
+++ b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
@@ -114,6 +114,7 @@ UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpu6000settings
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += takeofflocation
+UAVOBJSRCFILENAMES += perfcounter
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )
diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
index 897ef36d9..a55d4cb09 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
+++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
@@ -56,6 +56,9 @@
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_TASK_MONITOR
 
+#define PIOS_INSTRUMENTATION_MAX_COUNTERS 10
+#define PIOS_INCLUDE_INSTRUMENTATION
+
 /* PIOS hardware peripherals */
 #define PIOS_INCLUDE_IRQ
 #define PIOS_INCLUDE_RTC
diff --git a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
index ee7159705..e0ef4c3e5 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
+++ b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c
@@ -36,6 +36,11 @@
 #include <pios_oplinkrcvr_priv.h>
 #include <taskinfo.h>
 #include <pios_callbackscheduler.h>
+
+#ifdef PIOS_INCLUDE_INSTRUMENTATION
+#include <pios_instrumentation.h>
+#endif
+
 /*
  * Pull in the board-specific static HW definitions.
  * Including .c files is a bit ugly but this allows all of
@@ -340,6 +345,11 @@ void PIOS_Board_Init(void)
     PIOS_LED_Init(led_cfg);
 #endif /* PIOS_INCLUDE_LED */
 
+#ifdef PIOS_INCLUDE_INSTRUMENTATION
+    PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
+#endif
+
+
 #if false
     /* Set up the SPI interface to the gyro/acelerometer */
     if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {