diff --git a/src/modules/mavlink/mavlink_ulog.cpp b/src/modules/mavlink/mavlink_ulog.cpp
index d3f0cb1d8b..6f4cbd577a 100644
--- a/src/modules/mavlink/mavlink_ulog.cpp
+++ b/src/modules/mavlink/mavlink_ulog.cpp
@@ -66,6 +66,11 @@ MavlinkULog::MavlinkULog(int datarate, float max_rate_factor, uint8_t target_sys
 	_next_rate_check = _last_sent_time + _rate_calculation_delta_t * 1.e6f;
 }
 
+MavlinkULog::~MavlinkULog()
+{
+	perf_free(_msg_missed_ulog_stream_perf);
+}
+
 void MavlinkULog::start_ack_received()
 {
 	if (_waiting_for_initial_ack) {
@@ -134,7 +139,7 @@ int MavlinkULog::handle_update(mavlink_channel_t channel)
 		_ulog_stream_sub.update();
 
 		if (_ulog_stream_sub.get_last_generation() != last_generation + 1) {
-			PX4_ERR("ulog_stream lost, generation %d -> %d", last_generation, _ulog_stream_sub.get_last_generation());
+			perf_count(_msg_missed_ulog_stream_perf);
 		}
 
 		const ulog_stream_s &ulog_data = _ulog_stream_sub.get();
diff --git a/src/modules/mavlink/mavlink_ulog.h b/src/modules/mavlink/mavlink_ulog.h
index c0b81b1998..9c26329792 100644
--- a/src/modules/mavlink/mavlink_ulog.h
+++ b/src/modules/mavlink/mavlink_ulog.h
@@ -45,6 +45,7 @@
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/sem.h>
 #include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
 
 #include <uORB/Publication.hpp>
 #include <uORB/Subscription.hpp>
@@ -102,7 +103,7 @@ private:
 
 	MavlinkULog(int datarate, float max_rate_factor, uint8_t target_system, uint8_t target_component);
 
-	~MavlinkULog() = default;
+	~MavlinkULog();
 
 	static void lock()
 	{
@@ -137,6 +138,8 @@ private:
 	int _current_num_msgs = 0;  ///< number of messages sent within the current time interval
 	hrt_abstime _next_rate_check; ///< next timestamp at which to update the rate
 
+	perf_counter_t _msg_missed_ulog_stream_perf{perf_alloc(PC_COUNT, MODULE_NAME": ulog_stream messages missed")};
+
 	/* do not allow copying this class */
 	MavlinkULog(const MavlinkULog &) = delete;
 	MavlinkULog operator=(const MavlinkULog &) = delete;