diff --git a/src/drivers/vesc/VescSerialDevice.cpp b/src/drivers/vesc/VescSerialDevice.cpp
index 6961adfe58..f46e515370 100644
--- a/src/drivers/vesc/VescSerialDevice.cpp
+++ b/src/drivers/vesc/VescSerialDevice.cpp
@@ -54,6 +54,11 @@ VescDevice::VescDevice(const char *port) :
 	_port[sizeof(_port) - 1] = '\0';
 }
 
+VescDevice::~VescDevice()
+{
+	perf_free(_cycle_perf);
+}
+
 int VescDevice::init()
 {
 	int ret = setBaudrate(115200);
@@ -69,16 +74,19 @@ void VescDevice::print_info()
 {
 	printf("Using port '%s'\n", _port);
 	printf("VESC version: %d.%d\n", _vesc_driver.getVersionMajor(), _vesc_driver.getVersionMinor());
+	perf_print_counter(_cycle_perf);
 }
 
 void VescDevice::Run()
 {
+	perf_begin(_cycle_perf);
+
 	if (_serial_fd < 0) {
 		// Reopen fd from the work queue context
 		_serial_fd = ::open(_port, O_RDWR | O_NOCTTY);
+		_vesc_driver.requestFirmwareVersion();
 	}
 
-	_vesc_driver.requestFirmwareVersion();
 	_vesc_driver.commandDutyCycle(.05f);
 
 	// Check the number of bytes available in the buffer
@@ -107,6 +115,7 @@ void VescDevice::Run()
 	}
 
 	// TODO: ::close(_serial_fd); on exit
+	perf_end(_cycle_perf);
 }
 
 int VescDevice::setBaudrate(const unsigned baudrate)
diff --git a/src/drivers/vesc/VescSerialDevice.hpp b/src/drivers/vesc/VescSerialDevice.hpp
index 6e8452dbee..dc9030f77b 100644
--- a/src/drivers/vesc/VescSerialDevice.hpp
+++ b/src/drivers/vesc/VescSerialDevice.hpp
@@ -44,7 +44,7 @@ class VescDevice : public px4::ScheduledWorkItem, public VescWritable
 {
 public:
 	VescDevice(const char *port);
-	~VescDevice() = default;
+	~VescDevice();
 	int init();
 	void print_info();
 
@@ -57,4 +57,5 @@ private:
 	char _port[20] {};
 	int _serial_fd{-1};
 	VescDriver _vesc_driver;
+	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 };