diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 38b525caae..0996b9a593 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -216,6 +216,8 @@ static bool in_log_download;
 ////////////////////////////////////////////////////////////////////////////////
 static void update_events(void);
 static void print_flight_mode(AP_HAL::BetterStream *port, uint8_t mode);
+static void gcs_send_text_fmt(const prog_char_t *fmt, ...);
+
 
 ////////////////////////////////////////////////////////////////////////////////
 // Dataflash
@@ -890,6 +892,10 @@ void setup()
 
     // initialise the main loop scheduler
     scheduler.init(&scheduler_tasks[0], sizeof(scheduler_tasks)/sizeof(scheduler_tasks[0]));
+
+    // setup initial performance counters
+    perf_info_reset();
+    fast_loopTimer = hal.scheduler->micros();
 }
 
 /*
@@ -915,10 +921,11 @@ static void perf_update(void)
     if (should_log(MASK_LOG_PM))
         Log_Write_Performance();
     if (scheduler.debug()) {
-        cliSerial->printf_P(PSTR("PERF: %u/%u %lu\n"),
-                            (unsigned)perf_info_get_num_long_running(),
-                            (unsigned)perf_info_get_num_loops(),
-                            (unsigned long)perf_info_get_max_time());
+        gcs_send_text_fmt(PSTR("PERF: %u/%u %lu %lu\n"),
+                          (unsigned)perf_info_get_num_long_running(),
+                          (unsigned)perf_info_get_num_loops(),
+                          (unsigned long)perf_info_get_max_time(),
+                          (unsigned long)perf_info_get_min_time());
     }
     perf_info_reset();
     pmTest1 = 0;
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 10fe1a0834..febad10558 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -16,9 +16,6 @@ static bool	gcs_out_of_time;
 // check if a message will fit in the payload space available
 #define CHECK_PAYLOAD_SIZE(id) if (txspace < MAVLINK_NUM_NON_PAYLOAD_BYTES+MAVLINK_MSG_ID_ ## id ## _LEN) return false
 
-// prototype this for use inside the GCS class
-static void gcs_send_text_fmt(const prog_char_t *fmt, ...);
-
 static void gcs_send_heartbeat(void)
 {
     gcs_send_message(MSG_HEARTBEAT);
@@ -1704,7 +1701,7 @@ static void gcs_send_text_P(gcs_severity severity, const prog_char_t *str)
  *  only one fits in the queue, so if you send more than one before the
  *  last one gets into the serial buffer then the old one will be lost
  */
-void gcs_send_text_fmt(const prog_char_t *fmt, ...)
+static void gcs_send_text_fmt(const prog_char_t *fmt, ...)
 {
     va_list arg_list;
     gcs[0].pending_status.severity = (uint8_t)SEVERITY_LOW;
diff --git a/ArduCopter/perf_info.pde b/ArduCopter/perf_info.pde
index cebbf5a47f..3160b6d48b 100644
--- a/ArduCopter/perf_info.pde
+++ b/ArduCopter/perf_info.pde
@@ -11,27 +11,29 @@
  # define PERF_INFO_OVERTIME_THRESHOLD_MICROS 10500
 #endif
 
-uint16_t perf_info_loop_count;
-uint32_t perf_info_max_time;
-uint16_t perf_info_long_running;
-bool perf_ignore_loop = false;
+static uint16_t perf_info_loop_count;
+static uint32_t perf_info_max_time;
+static uint32_t perf_info_min_time;
+static uint16_t perf_info_long_running;
+static bool perf_ignore_loop = false;
 
 // perf_info_reset - reset all records of loop time to zero
-void perf_info_reset()
+static void perf_info_reset()
 {
     perf_info_loop_count = 0;
     perf_info_max_time = 0;
+    perf_info_min_time = 0;
     perf_info_long_running = 0;
 }
 
 // perf_ignore_loop - ignore this loop from performance measurements (used to reduce false positive when arming)
-void perf_ignore_this_loop()
+static void perf_ignore_this_loop()
 {
     perf_ignore_loop = true;
 }
 
 // perf_info_check_loop_time - check latest loop time vs min, max and overtime threshold
-void perf_info_check_loop_time(uint32_t time_in_micros)
+static void perf_info_check_loop_time(uint32_t time_in_micros)
 {
     perf_info_loop_count++;
 
@@ -44,25 +46,34 @@ void perf_info_check_loop_time(uint32_t time_in_micros)
     if( time_in_micros > perf_info_max_time) {
         perf_info_max_time = time_in_micros;
     }
+    if( perf_info_min_time == 0 || time_in_micros < perf_info_min_time) {
+        perf_info_min_time = time_in_micros;
+    }
     if( time_in_micros > PERF_INFO_OVERTIME_THRESHOLD_MICROS ) {
         perf_info_long_running++;
     }
 }
 
 // perf_info_get_long_running_percentage - get number of long running loops as a percentage of the total number of loops
-uint16_t perf_info_get_num_loops()
+static uint16_t perf_info_get_num_loops()
 {
     return perf_info_loop_count;
 }
 
 // perf_info_get_max_time - return maximum loop time (in microseconds)
-uint32_t perf_info_get_max_time()
+static uint32_t perf_info_get_max_time()
 {
     return perf_info_max_time;
 }
 
+// perf_info_get_max_time - return maximum loop time (in microseconds)
+static uint32_t perf_info_get_min_time()
+{
+    return perf_info_min_time;
+}
+
 // perf_info_get_num_long_running - get number of long running loops
-uint16_t perf_info_get_num_long_running()
+static uint16_t perf_info_get_num_long_running()
 {
     return perf_info_long_running;
 }