diff --git a/libraries/AP_HAL/Util.h b/libraries/AP_HAL/Util.h
index de76343f3b..42bfd27290 100644
--- a/libraries/AP_HAL/Util.h
+++ b/libraries/AP_HAL/Util.h
@@ -84,6 +84,20 @@ public:
     /* Support for an imu heating system */
     virtual void set_imu_temp(float current) {}
 
+    /*
+      performance counter calls - wrapper around original PX4 interface
+     */
+    enum perf_counter_type {
+	PC_COUNT,		/**< count the number of times an event occurs */
+	PC_ELAPSED,		/**< measure the time elapsed performing an event */
+	PC_INTERVAL		/**< measure the interval between instances of an event */
+    };
+    typedef void *perf_counter_t;
+    virtual perf_counter_t perf_alloc(perf_counter_type t, const char *name) { return NULL; }
+    virtual void perf_begin(perf_counter_t h) {}
+    virtual void perf_end(perf_counter_t h) {}
+    virtual void perf_count(perf_counter_t h) {}
+    
 protected:
     // we start soft_armed false, so that actuators don't send any
     // values until the vehicle code has fully started