diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index 24f70e12a6..637543d242 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -166,6 +166,7 @@ set(msg_files
 	ParameterSetValueRequest.msg
 	ParameterSetValueResponse.msg
 	ParameterUpdate.msg
+	Performance.msg
 	Ping.msg
 	PositionControllerLandingStatus.msg
 	PositionControllerStatus.msg
diff --git a/msg/Performance.msg b/msg/Performance.msg
new file mode 100644
index 0000000000..e65625d51f
--- /dev/null
+++ b/msg/Performance.msg
@@ -0,0 +1,2 @@
+uint64 timestamp			# time since system start (microseconds)
+uint64 delta_time
\ No newline at end of file
diff --git a/src/modules/control_allocator/ControlAllocator.cpp b/src/modules/control_allocator/ControlAllocator.cpp
index 48363eeb1e..9a4e9bbf31 100644
--- a/src/modules/control_allocator/ControlAllocator.cpp
+++ b/src/modules/control_allocator/ControlAllocator.cpp
@@ -308,6 +308,12 @@ ControlAllocator::Run()
 
 	perf_begin(_loop_perf);
 
+	performance_s performance;
+	performance.timestamp = hrt_absolute_time();
+	performance.delta_time = performance.timestamp - _last_perf_timestamp;
+	_performance_pub.publish(performance);
+	_last_perf_timestamp = performance.timestamp;
+
 #ifndef ENABLE_LOCKSTEP_SCHEDULER // Backup schedule would interfere with lockstep
 	// Push backup schedule
 	ScheduleDelayed(50_ms);
diff --git a/src/modules/control_allocator/ControlAllocator.hpp b/src/modules/control_allocator/ControlAllocator.hpp
index 303316f1ef..a4e357752a 100644
--- a/src/modules/control_allocator/ControlAllocator.hpp
+++ b/src/modules/control_allocator/ControlAllocator.hpp
@@ -77,6 +77,7 @@
 #include <uORB/topics/vehicle_torque_setpoint.h>
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 #include <uORB/topics/vehicle_status.h>
+#include <uORB/topics/performance.h>
 #include <uORB/topics/failure_detector_status.h>
 
 class ControlAllocator : public ModuleBase<ControlAllocator>, public ModuleParams, public px4::ScheduledWorkItem
@@ -184,6 +185,7 @@ private:
 	uORB::Publication<actuator_motors_s>	_actuator_motors_pub{ORB_ID(actuator_motors)};
 	uORB::Publication<actuator_servos_s>	_actuator_servos_pub{ORB_ID(actuator_servos)};
 	uORB::Publication<actuator_servos_trim_s>	_actuator_servos_trim_pub{ORB_ID(actuator_servos_trim)};
+	uORB::Publication<performance_s>	_performance_pub{ORB_ID(performance)};
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
@@ -205,6 +207,7 @@ private:
 	hrt_abstime _last_run{0};
 	hrt_abstime _timestamp_sample{0};
 	hrt_abstime _last_status_pub{0};
+	hrt_abstime _last_perf_timestamp{0};
 
 	ParamHandles _param_handles{};
 	Params _params{};
diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp
index 8bd55e62fe..0949a93fb8 100644
--- a/src/modules/logger/logged_topics.cpp
+++ b/src/modules/logger/logged_topics.cpp
@@ -97,6 +97,7 @@ void LoggedTopics::add_default_topics()
 	add_topic("offboard_control_mode", 100);
 	add_topic("onboard_computer_status", 10);
 	add_topic("parameter_update");
+	add_topic("performance");
 	add_topic("position_controller_status", 500);
 	add_topic("position_controller_landing_status", 100);
 	add_topic("goto_setpoint", 200);