diff --git a/libraries/DataFlash/LogStructure.h b/libraries/DataFlash/LogStructure.h
index 0a8031ea5f..0f185efc9a 100644
--- a/libraries/DataFlash/LogStructure.h
+++ b/libraries/DataFlash/LogStructure.h
@@ -1010,6 +1010,16 @@ struct PACKED log_Proximity {
     float closest_dist;
 };
 
+struct PACKED log_Performance {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    uint16_t num_long_running;
+    uint16_t num_loops;
+    uint32_t max_time;
+    uint16_t ins_error_count;
+    uint32_t mem_avail;
+};
+
 struct PACKED log_SRTL {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -1222,6 +1232,8 @@ Format characters in the format string for binary log messages
       "BCN", "QBBfffffff",  "TimeUS,Health,Cnt,D0,D1,D2,D3,PosX,PosY,PosZ", "s--mmmmmmm", "F--BBBBBBB" }, \
     { LOG_PROXIMITY_MSG, sizeof(log_Proximity), \
       "PRX", "QBfffffffffff", "TimeUS,Health,D0,D45,D90,D135,D180,D225,D270,D315,DUp,CAn,CDis", "s-mmmmmmmmmhm", "F-BBBBBBBBB00" }, \
+    { LOG_PERFORMANCE_MSG, sizeof(log_Performance),                     \
+      "PM",  "QHHIHI",    "TimeUS,NLon,NLoop,MaxT,INSErr,Mem", "s----b", "F----0" }, \
     { LOG_SRTL_MSG, sizeof(log_SRTL), \
       "SRTL", "QBHHBfff", "TimeUS,Active,NumPts,MaxPts,Action,N,E,D", "s----mmm", "F----000" }
 
@@ -1530,9 +1542,12 @@ enum LogMessages {
     LOG_ISBH_MSG,
     LOG_ISBD_MSG,
     LOG_ASP2_MSG,
-
+    LOG_PERFORMANCE_MSG,
+    _LOG_LAST_MSG_
 };
 
+static_assert(_LOG_LAST_MSG_ <= 255, "Too many message formats");
+
 enum LogOriginType {
     ekf_origin = 0,
     ahrs_home = 1