diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
index 3b773c58a2..462dccd9a8 100644
--- a/src/modules/land_detector/LandDetector.cpp
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -47,11 +47,9 @@
 #include <drivers/drv_hrt.h>
 #include "uORB/topics/parameter_update.h"
 
-
 namespace land_detector
 {
 
-
 LandDetector::LandDetector() :
 	_landDetectedPub(nullptr),
 	_landDetected{0, false, false},
@@ -63,12 +61,14 @@ LandDetector::LandDetector() :
 	_ground_contact_hysteresis(true),
 	_total_flight_time{0},
 	_takeoff_time{0},
-	_work{}
+	_work{},
+	_cycle_perf(perf_alloc(PC_ELAPSED, "land_detector_cycle"))
 {
 }
 
 LandDetector::~LandDetector()
 {
+	perf_free(_cycle_perf);
 }
 
 int LandDetector::start()
@@ -87,6 +87,8 @@ LandDetector::_cycle_trampoline(void *arg)
 
 void LandDetector::_cycle()
 {
+	perf_begin(_cycle_perf);
+
 	if (!_object) { // not initialized yet
 		// Advertise the first land detected uORB.
 		_landDetected.timestamp = hrt_absolute_time();
@@ -155,6 +157,8 @@ void LandDetector::_cycle()
 				 &instance, ORB_PRIO_DEFAULT);
 	}
 
+	perf_end(_cycle_perf);
+
 	if (!should_exit()) {
 
 		// Schedule next cycle.
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
index 250979eb3a..c65980ac5b 100644
--- a/src/modules/land_detector/LandDetector.h
+++ b/src/modules/land_detector/LandDetector.h
@@ -46,6 +46,7 @@
 #include <px4_module.h>
 #include <systemlib/hysteresis/hysteresis.h>
 #include <systemlib/param/param.h>
+#include <systemlib/perf_counter.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_land_detected.h>
 
@@ -175,6 +176,8 @@ private:
 	hrt_abstime _takeoff_time;
 
 	struct work_s	_work;
+
+	perf_counter_t	_cycle_perf;
 };