diff --git a/attitude_fw/ecl_controller.cpp b/attitude_fw/ecl_controller.cpp
index 7bf4129e48..bb313b22b1 100644
--- a/attitude_fw/ecl_controller.cpp
+++ b/attitude_fw/ecl_controller.cpp
@@ -63,17 +63,12 @@ ECL_Controller::ECL_Controller(const char *name) :
 	_integrator(0.0f),
 	_rate_error(0.0f),
 	_rate_setpoint(0.0f),
-	_bodyrate_setpoint(0.0f),
-	_perf_name()
+	_bodyrate_setpoint(0.0f)
 {
-	/* Init performance counter */
-	snprintf(_perf_name, sizeof(_perf_name), "fw att control %s nonfinite input", name);
-	_nonfinite_input_perf = perf_alloc(PC_COUNT, _perf_name);
 }
 
 ECL_Controller::~ECL_Controller()
 {
-	perf_free(_nonfinite_input_perf);
 }
 
 void ECL_Controller::reset_integrator()
diff --git a/attitude_fw/ecl_controller.h b/attitude_fw/ecl_controller.h
index fed7d1d8fb..9c41222da3 100644
--- a/attitude_fw/ecl_controller.h
+++ b/attitude_fw/ecl_controller.h
@@ -118,8 +118,5 @@ protected:
 	float _rate_error;
 	float _rate_setpoint;
 	float _bodyrate_setpoint;
-	perf_counter_t _nonfinite_input_perf;
-	static const uint8_t _perf_name_max = 40;
-	char _perf_name[_perf_name_max];
 	float constrain_airspeed(float airspeed, float minspeed, float maxspeed);
 };
diff --git a/attitude_fw/ecl_pitch_controller.cpp b/attitude_fw/ecl_pitch_controller.cpp
index d691a6c650..05640282ed 100644
--- a/attitude_fw/ecl_pitch_controller.cpp
+++ b/attitude_fw/ecl_pitch_controller.cpp
@@ -66,7 +66,6 @@ float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_da
 	      PX4_ISFINITE(ctl_data.roll) &&
 	      PX4_ISFINITE(ctl_data.pitch) &&
 	      PX4_ISFINITE(ctl_data.airspeed))) {
-		perf_count(_nonfinite_input_perf);
 		warnx("not controlling pitch");
 		return _rate_setpoint;
 	}
@@ -102,7 +101,6 @@ float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_da
 	      PX4_ISFINITE(ctl_data.airspeed_min) &&
 	      PX4_ISFINITE(ctl_data.airspeed_max) &&
 	      PX4_ISFINITE(ctl_data.scaler))) {
-		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
 
diff --git a/attitude_fw/ecl_roll_controller.cpp b/attitude_fw/ecl_roll_controller.cpp
index 3a4c15f6a7..d1c9177c8d 100644
--- a/attitude_fw/ecl_roll_controller.cpp
+++ b/attitude_fw/ecl_roll_controller.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -60,7 +60,6 @@ float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_dat
 {
 	/* Do not calculate control signal with bad inputs */
 	if (!(PX4_ISFINITE(ctl_data.roll_setpoint) && PX4_ISFINITE(ctl_data.roll))) {
-		perf_count(_nonfinite_input_perf);
 		return _rate_setpoint;
 	}
 
@@ -90,7 +89,6 @@ float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_dat
 	      PX4_ISFINITE(ctl_data.airspeed_min) &&
 	      PX4_ISFINITE(ctl_data.airspeed_max) &&
 	      PX4_ISFINITE(ctl_data.scaler))) {
-		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
 
diff --git a/attitude_fw/ecl_wheel_controller.cpp b/attitude_fw/ecl_wheel_controller.cpp
index bdd043ee1c..aa0bdfafd5 100644
--- a/attitude_fw/ecl_wheel_controller.cpp
+++ b/attitude_fw/ecl_wheel_controller.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -62,7 +62,6 @@ float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_da
     if (!(PX4_ISFINITE(ctl_data.yaw_rate) &&
           PX4_ISFINITE(ctl_data.groundspeed) &&
           PX4_ISFINITE(ctl_data.groundspeed_scaler))) {
-        perf_count(_nonfinite_input_perf);
         return math::constrain(_last_output, -1.0f, 1.0f);
     }
 
@@ -124,7 +123,6 @@ float ECL_WheelController::control_attitude(const struct ECL_ControlData &ctl_da
     /* Do not calculate control signal with bad inputs */
     if (!(PX4_ISFINITE(ctl_data.yaw_setpoint) &&
           PX4_ISFINITE(ctl_data.yaw))) {
-        perf_count(_nonfinite_input_perf);
         return _rate_setpoint;
     }
 
diff --git a/attitude_fw/ecl_wheel_controller.h b/attitude_fw/ecl_wheel_controller.h
index f153a8f8f1..6292c81844 100644
--- a/attitude_fw/ecl_wheel_controller.h
+++ b/attitude_fw/ecl_wheel_controller.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/attitude_fw/ecl_yaw_controller.cpp b/attitude_fw/ecl_yaw_controller.cpp
index 765f460a2a..c0f88dc032 100644
--- a/attitude_fw/ecl_yaw_controller.cpp
+++ b/attitude_fw/ecl_yaw_controller.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -108,7 +108,6 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
 	      PX4_ISFINITE(ctl_data.speed_body_w) &&
 	      PX4_ISFINITE(ctl_data.roll_rate_setpoint) &&
 	      PX4_ISFINITE(ctl_data.pitch_rate_setpoint))) {
-		perf_count(_nonfinite_input_perf);
 		return _rate_setpoint;
 	}
 
@@ -160,7 +159,6 @@ float ECL_YawController::control_bodyrate_impl(const struct ECL_ControlData &ctl
 	      PX4_ISFINITE(ctl_data.yaw_rate) && PX4_ISFINITE(ctl_data.pitch_rate_setpoint) &&
 	      PX4_ISFINITE(ctl_data.airspeed_min) && PX4_ISFINITE(ctl_data.airspeed_max) &&
 	      PX4_ISFINITE(ctl_data.scaler))) {
-		perf_count(_nonfinite_input_perf);
 		return math::constrain(_last_output, -1.0f, 1.0f);
 	}
 
diff --git a/attitude_fw/ecl_yaw_controller.h b/attitude_fw/ecl_yaw_controller.h
index 511b5fd36f..ad246fe000 100644
--- a/attitude_fw/ecl_yaw_controller.h
+++ b/attitude_fw/ecl_yaw_controller.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions