diff --git a/src/core/looptime.c b/src/core/looptime.c
index f3ca9e1c6..0dcbf7b19 100644
--- a/src/core/looptime.c
+++ b/src/core/looptime.c
@@ -89,4 +89,6 @@ void looptime_update() {
   if (flags.arm_state) {
     state.armtime += state.looptime;
   }
+
+  state.loop_counter++;
 }
\ No newline at end of file
diff --git a/src/core/main.c b/src/core/main.c
index da3cc9bb9..b887006fb 100644
--- a/src/core/main.c
+++ b/src/core/main.c
@@ -9,34 +9,27 @@
 #include "core/looptime.h"
 #include "core/profile.h"
 #include "core/project.h"
+#include "core/scheduler.h"
 #include "driver/adc.h"
-#include "driver/fmc.h"
 #include "driver/gpio.h"
 #include "driver/motor.h"
-#include "driver/reset.h"
 #include "driver/rgb_led.h"
-#include "driver/serial.h"
-#include "driver/spi.h"
 #include "driver/time.h"
+#include "driver/timer.h"
 #include "driver/usb.h"
-#include "flight/control.h"
 #include "flight/filter.h"
-#include "flight/gestures.h"
 #include "flight/imu.h"
 #include "flight/pid.h"
 #include "flight/sixaxis.h"
 #include "io/blackbox.h"
 #include "io/buzzer.h"
 #include "io/led.h"
-#include "io/rgb_led.h"
-#include "io/usb_configurator.h"
 #include "io/vbat.h"
 #include "io/vtx.h"
 #include "osd/render.h"
-#include "rx/rx.h"
-#include "util/util.h"
 
-__attribute__((__used__)) void memory_section_init() {
+__attribute__((__used__)) void
+memory_section_init() {
 #ifdef USE_FAST_RAM
   extern uint8_t _fast_ram_start;
   extern uint8_t _fast_ram_end;
@@ -73,6 +66,8 @@ __attribute__((__used__)) void memory_section_init() {
 }
 
 __attribute__((__used__)) int main() {
+  scheduler_init();
+
   // init timer so we can use delays etc
   time_init();
   looptime_init();
@@ -137,85 +132,7 @@ __attribute__((__used__)) int main() {
 
   blackbox_init();
   imu_init();
-
   osd_clear();
-  perf_counter_init();
-
-  looptime_reset();
-
-  while (1) {
-    // updates looptime counters & runs auto detect
-    looptime_update();
-
-    perf_counter_start(PERF_COUNTER_TOTAL);
-
-    // read gyro and accelerometer data
-    perf_counter_start(PERF_COUNTER_GYRO);
-    sixaxis_read();
-    perf_counter_end(PERF_COUNTER_GYRO);
-
-    // all flight calculations and motors
-    perf_counter_start(PERF_COUNTER_CONTROL);
-    control();
-    perf_counter_end(PERF_COUNTER_CONTROL);
-
-    perf_counter_start(PERF_COUNTER_MISC);
-
-    // attitude calculations for level mode
-    imu_calc();
-
-    // battery low logic
-    vbat_calc();
-
-    // check gestures
-    if (flags.on_ground && !flags.gestures_disabled) {
-      gestures();
-    }
 
-    // handle led commands
-    led_update();
-
-#if (RGB_LED_NUMBER > 0)
-    // RGB led control
-    rgb_led_lvc();
-#ifdef RGB_LED_DMA
-    rgb_dma_start();
-#endif
-#endif
-
-    buzzer_update();
-    vtx_update();
-
-    perf_counter_end(PERF_COUNTER_MISC);
-
-    // receiver function
-    perf_counter_start(PERF_COUNTER_RX);
-    rx_update();
-    perf_counter_end(PERF_COUNTER_RX);
-
-    perf_counter_start(PERF_COUNTER_BLACKBOX);
-    const uint8_t blackbox_active = blackbox_update();
-    perf_counter_end(PERF_COUNTER_BLACKBOX);
-
-    if (!blackbox_active) {
-      perf_counter_start(PERF_COUNTER_OSD);
-      osd_display();
-      perf_counter_end(PERF_COUNTER_OSD);
-    }
-
-    if (usb_detect()) {
-      flags.usb_active = 1;
-#ifndef ALLOW_USB_ARMING
-      if (flags.arm_switch)
-        flags.arm_safety = 1; // final safety check to disallow arming during USB operation
-#endif
-      usb_configurator();
-    } else {
-      flags.usb_active = 0;
-      motor_test.active = 0;
-    }
-
-    perf_counter_end(PERF_COUNTER_TOTAL);
-    perf_counter_update();
-  } // end loop
-}
\ No newline at end of file
+  scheduler_run();
+}
diff --git a/src/core/scheduler.c b/src/core/scheduler.c
new file mode 100644
index 000000000..91ab7cc6c
--- /dev/null
+++ b/src/core/scheduler.c
@@ -0,0 +1,184 @@
+#include "core/scheduler.h"
+
+#include <stdbool.h>
+#include <string.h>
+
+#include "core/debug.h"
+#include "core/looptime.h"
+#include "driver/time.h"
+#include "flight/control.h"
+#include "io/usb_configurator.h"
+#include "tasks.h"
+#include "util/cbor_helper.h"
+
+#define TASK_AVERAGE_SAMPLES 32
+#define TASK_RUNTIME_REDUCTION 0.75
+#define TASK_RUNTIME_MARGIN 1.25
+#define TASK_RUNTIME_BUFFER 10
+
+#define US_TO_CYCLES(us) ((us)*TICKS_PER_US)
+#define CYCLES_TO_US(cycles) ((cycles) / TICKS_PER_US)
+
+static FAST_RAM uint32_t task_queue_size = 0;
+static FAST_RAM task_t *task_queue[TASK_MAX];
+static FAST_RAM task_t *active_task = NULL;
+
+static bool task_queue_contains(task_t *task) {
+  for (uint32_t i = 0; i < task_queue_size; i++) {
+    if (task_queue[i] == task) {
+      return true;
+    }
+  }
+  return false;
+}
+
+static bool task_queue_push(task_t *task) {
+  if (task_queue_size >= TASK_MAX || task_queue_contains(task)) {
+    return false;
+  }
+  for (uint32_t i = 0; i < TASK_MAX; i++) {
+    if (task_queue[i] != NULL && task_queue[i]->priority <= task->priority) {
+      continue;
+    }
+
+    memcpy(task_queue + i + 1, task_queue + i, (task_queue_size - i) * sizeof(task_t *));
+    task_queue[i] = task;
+    task_queue_size++;
+    return true;
+  }
+  return false;
+}
+
+static bool task_should_run(const uint32_t start_cycles, uint8_t task_mask, task_t *task) {
+  if ((task_mask & task->mask) == 0) {
+    // task shall not run in this firmware state
+    return false;
+  }
+
+  const int32_t time_left = US_TO_CYCLES(state.looptime_autodetect - TASK_RUNTIME_BUFFER) - (time_cycles() - start_cycles);
+  if (task->priority != TASK_PRIORITY_REALTIME && task->runtime_worst > time_left) {
+    // we dont have any time left this loop and task is not realtime
+    task->runtime_worst *= TASK_RUNTIME_REDUCTION;
+    return false;
+  }
+
+  return true;
+}
+
+static void task_run(task_t *task) {
+  const volatile uint32_t start = time_cycles();
+  task->last_run_time = start;
+
+  task->runtime_flags = 0;
+  active_task = task;
+  task->func();
+  active_task = NULL;
+
+  const volatile uint32_t time_taken = time_cycles() - start;
+  task->runtime_current = time_taken;
+
+  if (task->runtime_flags & TASK_FLAG_SKIP_STATS) {
+    return;
+  }
+
+  if (time_taken < task->runtime_min) {
+    task->runtime_min = time_taken;
+  }
+
+  task->runtime_avg_sum -= task->runtime_avg;
+  task->runtime_avg_sum += time_taken;
+  task->runtime_avg = task->runtime_avg_sum / TASK_AVERAGE_SAMPLES;
+
+  if (time_taken > task->runtime_max) {
+    task->runtime_max = time_taken;
+  }
+
+  if (task->runtime_worst < (task->runtime_avg * TASK_RUNTIME_MARGIN)) {
+    task->runtime_worst = task->runtime_avg * TASK_RUNTIME_MARGIN;
+  }
+}
+
+void task_reset_runtime() {
+  if (active_task == NULL) {
+    return;
+  }
+  active_task->runtime_flags |= TASK_FLAG_SKIP_STATS;
+  looptime_reset();
+}
+
+void scheduler_init() {
+  looptime_init();
+
+  for (uint32_t i = 0; i < TASK_MAX; i++) {
+    task_queue_push(&tasks[i]);
+  }
+}
+
+void scheduler_run() {
+  looptime_reset();
+
+  while (1) {
+    const volatile uint32_t cycles = time_cycles();
+
+    uint8_t task_mask = TASK_MASK_DEFAULT;
+    if (flags.in_air || flags.arm_state) {
+      task_mask |= TASK_MASK_IN_AIR;
+    } else {
+      task_mask |= TASK_MASK_ON_GROUND;
+    }
+
+    for (uint32_t i = 0; i < task_queue_size; i++) {
+      task_t *task = task_queue[i];
+      if (task_should_run(cycles, task_mask, task)) {
+        task_run(task);
+      }
+    }
+
+    looptime_update();
+  }
+}
+
+#ifdef DEBUG
+
+#define ENCODE_CYCLES(val)                                \
+  {                                                       \
+    const uint32_t us = CYCLES_TO_US(val);                \
+    CBOR_CHECK_ERROR(res = cbor_encode_uint32(enc, &us)); \
+  }
+
+cbor_result_t cbor_encode_task_stats(cbor_value_t *enc) {
+  CBOR_CHECK_ERROR(cbor_result_t res = cbor_encode_array_indefinite(enc));
+
+  for (uint32_t i = 0; i < TASK_MAX; i++) {
+    CBOR_CHECK_ERROR(res = cbor_encode_map_indefinite(enc));
+
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, "name"));
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, tasks[i].name));
+
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, "last"));
+    ENCODE_CYCLES(tasks[i].last_run_time)
+
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, "current"));
+    ENCODE_CYCLES(tasks[i].runtime_current)
+
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, "min"));
+    ENCODE_CYCLES(tasks[i].runtime_min)
+
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, "avg"));
+    ENCODE_CYCLES(tasks[i].runtime_avg)
+
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, "max"));
+    ENCODE_CYCLES(tasks[i].runtime_max)
+
+    CBOR_CHECK_ERROR(res = cbor_encode_str(enc, "worst"));
+    ENCODE_CYCLES(tasks[i].runtime_worst)
+
+    CBOR_CHECK_ERROR(res = cbor_encode_end_indefinite(enc));
+  }
+
+  CBOR_CHECK_ERROR(res = cbor_encode_end_indefinite(enc));
+
+  return res;
+}
+
+#endif
\ No newline at end of file
diff --git a/src/core/scheduler.h b/src/core/scheduler.h
new file mode 100644
index 000000000..fb4dfc05c
--- /dev/null
+++ b/src/core/scheduler.h
@@ -0,0 +1,12 @@
+#pragma once
+
+#include <stdint.h>
+
+#include <cbor.h>
+
+void scheduler_init();
+void scheduler_run();
+
+void task_reset_runtime();
+
+cbor_result_t cbor_encode_task_stats(cbor_value_t *enc);
\ No newline at end of file
diff --git a/src/core/tasks.c b/src/core/tasks.c
new file mode 100644
index 000000000..e0fbee0c5
--- /dev/null
+++ b/src/core/tasks.c
@@ -0,0 +1,61 @@
+#include "tasks.h"
+
+#include <stddef.h>
+
+#include "driver/serial.h"
+#include "driver/usb.h"
+#include "flight/control.h"
+#include "flight/gestures.h"
+#include "flight/imu.h"
+#include "flight/sixaxis.h"
+#include "io/blackbox.h"
+#include "io/buzzer.h"
+#include "io/led.h"
+#include "io/usb_configurator.h"
+#include "io/vbat.h"
+#include "io/vtx.h"
+#include "osd/render.h"
+#include "profile.h"
+#include "project.h"
+#include "rx/rx.h"
+
+void task_main() {
+  // all flight calculations and motors
+  control();
+
+  // attitude calculations for level mode
+  imu_calc();
+
+  // battery low logic
+  vbat_calc();
+
+  // check gestures
+  if (flags.on_ground && !flags.gestures_disabled) {
+    gestures();
+  }
+
+  // handle led commands
+  led_update();
+
+#if (RGB_LED_NUMBER > 0)
+  // RGB led control
+  rgb_led_lvc();
+#ifdef RGB_LED_DMA
+  rgb_dma_start();
+#endif
+#endif
+
+  buzzer_update();
+}
+
+FAST_RAM task_t tasks[TASK_MAX] = {
+    [TASK_GYRO] = CREATE_TASK("GYRO", TASK_MASK_ALWAYS, TASK_PRIORITY_REALTIME, sixaxis_read),
+    [TASK_MAIN] = CREATE_TASK("MAIN", TASK_MASK_ALWAYS, TASK_PRIORITY_REALTIME, task_main),
+    [TASK_RX] = CREATE_TASK("RX", TASK_MASK_ALWAYS, TASK_PRIORITY_HIGH, rx_update),
+#ifdef ENABLE_BLACKBOX
+    [TASK_BLACKBOX] = CREATE_TASK("BLACKBOX", TASK_MASK_ALWAYS, TASK_PRIORITY_MEDIUM, blackbox_update),
+#endif
+    [TASK_OSD] = CREATE_TASK("OSD", TASK_MASK_ALWAYS, TASK_PRIORITY_MEDIUM, osd_display),
+    [TASK_VTX] = CREATE_TASK("VTX", TASK_MASK_ON_GROUND, TASK_PRIORITY_LOW, vtx_update),
+    [TASK_USB] = CREATE_TASK("USB", TASK_MASK_ON_GROUND, TASK_PRIORITY_LOW, usb_configurator),
+};
\ No newline at end of file
diff --git a/src/core/tasks.h b/src/core/tasks.h
new file mode 100644
index 000000000..65dedf939
--- /dev/null
+++ b/src/core/tasks.h
@@ -0,0 +1,79 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "project.h"
+
+typedef enum {
+  TASK_GYRO,
+  TASK_RX,
+  TASK_MAIN,
+  TASK_USB,
+  TASK_OSD,
+#ifdef ENABLE_BLACKBOX
+  TASK_BLACKBOX,
+#endif
+  TASK_VTX,
+
+  TASK_MAX
+
+} task_id_t;
+typedef enum {
+  TASK_PRIORITY_REALTIME,
+  TASK_PRIORITY_HIGH,
+  TASK_PRIORITY_MEDIUM,
+  TASK_PRIORITY_LOW,
+} task_priority_t;
+
+typedef enum {
+  TASK_MASK_DEFAULT = (0x1 << 0),
+  TASK_MASK_ON_GROUND = (0x1 << 1),
+  TASK_MASK_IN_AIR = (0x1 << 2),
+
+  TASK_MASK_ALWAYS = 0xFF,
+} task_mask_t;
+
+typedef enum {
+  TASK_FLAG_SKIP_STATS = (0x1 << 0),
+} task_flag_t;
+
+typedef void (*task_function_t)();
+typedef bool (*task_poll_function_t)();
+
+typedef struct {
+  const char *name;
+
+  uint8_t mask;
+  task_priority_t priority;
+  task_function_t func;
+
+  uint32_t last_run_time;
+
+  uint32_t runtime_flags;
+  uint32_t runtime_current;
+  uint32_t runtime_min;
+  uint32_t runtime_avg;
+  uint32_t runtime_worst;
+  uint32_t runtime_max;
+
+  uint32_t runtime_avg_sum;
+} task_t;
+
+#define CREATE_TASK(p_name, p_mask, p_priority, p_func) \
+  {                                                     \
+    .name = p_name,                                     \
+    .mask = p_mask,                                     \
+    .priority = p_priority,                             \
+    .func = p_func,                                     \
+    .last_run_time = 0,                                 \
+    .runtime_flags = 0,                                 \
+    .runtime_current = 0,                               \
+    .runtime_min = UINT32_MAX,                          \
+    .runtime_avg = 0,                                   \
+    .runtime_worst = 0,                                 \
+    .runtime_max = 0,                                   \
+    .runtime_avg_sum = 0,                               \
+  }
+
+extern task_t tasks[TASK_MAX];
\ No newline at end of file
diff --git a/src/driver/usb.h b/src/driver/usb.h
index 5b393b667..8983333c8 100644
--- a/src/driver/usb.h
+++ b/src/driver/usb.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <stdbool.h>
 #include <stdint.h>
 
 #include "core/project.h"
@@ -12,7 +13,11 @@ extern ring_buffer_t usb_rx_buffer;
 
 void usb_init();
 uint8_t usb_detect();
+
+bool usb_serial_available();
+
 uint32_t usb_serial_read(uint8_t *data, uint32_t len);
 void usb_serial_write(uint8_t *data, uint32_t len);
+
 void usb_serial_printf(const char *fmt, ...);
 void usb_serial_print(char *str);
\ No newline at end of file
diff --git a/src/flight/control.h b/src/flight/control.h
index abcd69de9..57cc1b08f 100644
--- a/src/flight/control.h
+++ b/src/flight/control.h
@@ -3,9 +3,9 @@
 #include <stdint.h>
 
 #include "core/failloop.h"
+#include "core/looptime.h"
 #include "core/project.h"
 #include "rx/rx.h"
-
 #include "util/vector.h"
 
 #define ANGLE_PID_SIZE 2
@@ -43,10 +43,10 @@ extern control_flags_t flags;
 typedef struct {
   failloop_t failloop;
 
-  uint16_t looptime_autodetect;
+  looptime_t looptime_autodetect;
   float looptime;        // looptime in seconds
-  uint32_t looptime_us;  // looptime in us
   uint32_t loop_counter; // number of loops ran
+  uint32_t looptime_us;  // looptime in us
   float uptime;          // running sum of looptimes
   float armtime;         // running sum of looptimes (while armed)
   uint32_t cpu_load;     // micros we have had left last loop
@@ -107,6 +107,7 @@ typedef struct {
 
 #define STATE_MEMBERS                       \
   MEMBER(failloop, uint8)                   \
+  MEMBER(loop_counter, uint32)              \
   MEMBER(looptime_autodetect, uint16)       \
   MEMBER(looptime, float)                   \
   MEMBER(looptime_us, uint32)               \
diff --git a/src/flight/gestures.c b/src/flight/gestures.c
index 67b5316f2..e8b181e2d 100644
--- a/src/flight/gestures.c
+++ b/src/flight/gestures.c
@@ -3,6 +3,7 @@
 #include "core/flash.h"
 #include "core/looptime.h"
 #include "core/profile.h"
+#include "core/scheduler.h"
 #include "flight/control.h"
 #include "flight/pid.h"
 #include "flight/sixaxis.h"
@@ -43,7 +44,7 @@ void gestures() {
         number_of_increments[i][j] = 0;
 
     // reset loop time
-    looptime_reset();
+    task_reset_runtime();
     break;
   }
   case GESTURE_UUU: {
diff --git a/src/io/blackbox.c b/src/io/blackbox.c
index cec95351e..cd7bafc53 100644
--- a/src/io/blackbox.c
+++ b/src/io/blackbox.c
@@ -10,7 +10,6 @@
 #ifdef USE_BLACKBOX
 
 static blackbox_t blackbox;
-
 static uint8_t blackbox_enabled = 0;
 static uint8_t blackbox_rate = 0;
 
@@ -92,34 +91,33 @@ static uint32_t blackbox_rate_div() {
   return (1000000 / state.looptime_autodetect) / profile.blackbox.sample_rate_hz;
 }
 
-uint8_t blackbox_update() {
+void blackbox_update() {
   blackbox_device_result_t flash_result = blackbox_device_update();
   if (flash_result == BLACKBOX_DEVICE_WAIT) {
     // flash is still detecting, dont do anything
-    return 0;
+    return;
   }
 
   // flash is either idle or writing, do blackbox
   if ((!flags.arm_state || !rx_aux_on(AUX_BLACKBOX)) && blackbox_enabled == 1) {
     blackbox_device_finish();
     blackbox_enabled = 0;
-    return 0;
+    return;
   } else if ((flags.arm_state && flags.turtle_ready == 0 && rx_aux_on(AUX_BLACKBOX)) && blackbox_enabled == 0) {
     if (blackbox_device_restart(profile.blackbox.field_flags, blackbox_rate_div(), state.looptime_autodetect)) {
       blackbox_rate = blackbox_rate_div();
       blackbox_enabled = 1;
       blackbox.loop = 0;
     }
-    return 0;
+    return;
   }
 
   if (blackbox_enabled == 0) {
-    return 0;
+    return;
   }
 
   if ((state.loop_counter % blackbox_rate) != 0) {
-    // tell the rest of the code that flash is occuping the spi bus
-    return flash_result == BLACKBOX_DEVICE_WRITE;
+    return;
   }
 
   blackbox.loop++;
@@ -147,9 +145,6 @@ uint8_t blackbox_update() {
   blackbox.cpu_load = state.cpu_load;
 
   blackbox_device_write(profile.blackbox.field_flags, &blackbox);
-
-  // tell the rest of the code that flash is occuping the spi bus
-  return flash_result == BLACKBOX_DEVICE_WRITE;
 }
 #else
 void blackbox_init() {}
diff --git a/src/io/blackbox.h b/src/io/blackbox.h
index c09c6221f..c1cd52e49 100644
--- a/src/io/blackbox.h
+++ b/src/io/blackbox.h
@@ -3,6 +3,7 @@
 #include "core/profile.h"
 
 #define BLACKBOX_SCALE 1000
+#define BLACKBOX_RATE 4
 
 typedef struct {
   uint32_t loop;
@@ -52,4 +53,4 @@ cbor_result_t cbor_encode_blackbox_t(cbor_value_t *enc, const blackbox_t *b, con
 
 void blackbox_init();
 void blackbox_set_debug(uint8_t index, int16_t data);
-uint8_t blackbox_update();
\ No newline at end of file
+void blackbox_update();
diff --git a/src/io/blackbox_device.c b/src/io/blackbox_device.c
index 7f9876a55..ca292ec59 100644
--- a/src/io/blackbox_device.c
+++ b/src/io/blackbox_device.c
@@ -4,6 +4,7 @@
 
 #include "core/looptime.h"
 #include "core/project.h"
+#include "core/scheduler.h"
 #include "io/blackbox_device_flash.h"
 #include "io/blackbox_device_sdcard.h"
 #include "util/cbor_helper.h"
@@ -114,7 +115,7 @@ void blackbox_device_reset() {
   blackbox_device_header.magic = BLACKBOX_HEADER_MAGIC;
   blackbox_device_header.file_num = 0;
 
-  looptime_reset();
+  task_reset_runtime();
 }
 
 bool blackbox_device_restart(uint32_t field_flags, uint32_t blackbox_rate, uint32_t looptime) {
diff --git a/src/io/msp.c b/src/io/msp.c
index 481aec6f5..961490e25 100644
--- a/src/io/msp.c
+++ b/src/io/msp.c
@@ -6,16 +6,17 @@
 #include "core/debug.h"
 #include "core/flash.h"
 #include "core/looptime.h"
+#include "core/scheduler.h"
 #include "driver/motor.h"
 #include "driver/reset.h"
 #include "driver/serial.h"
 #include "driver/serial_4way.h"
 #include "flight/control.h"
+#include "io/quic.h"
 #include "io/usb_configurator.h"
-#include "quic.h"
+#include "io/vtx.h"
 #include "util/crc.h"
 #include "util/util.h"
-#include "vtx.h"
 
 enum {
   MSP_REBOOT_FIRMWARE = 0,
@@ -488,7 +489,7 @@ static void msp_process_serial_cmd(msp_t *msp, msp_magic_t magic, uint16_t cmd,
     }
     if (!flags.arm_state && msp->device != MSP_DEVICE_SPI_RX) {
       flash_save();
-      looptime_reset();
+      task_reset_runtime();
     }
     msp_send_reply(msp, magic, cmd, NULL, 0);
     break;
diff --git a/src/io/quic.c b/src/io/quic.c
index 4d36308e1..051f71396 100644
--- a/src/io/quic.c
+++ b/src/io/quic.c
@@ -7,6 +7,7 @@
 #include "core/debug.h"
 #include "core/flash.h"
 #include "core/profile.h"
+#include "core/scheduler.h"
 #include "driver/motor.h"
 #include "driver/serial.h"
 #include "driver/serial_4way.h"
@@ -191,7 +192,7 @@ static void get_quic(quic_t *quic, cbor_value_t *dec) {
   }
 #ifdef DEBUG
   case QUIC_VAL_PERF_COUNTERS: {
-    res = cbor_encode_perf_counters(&enc);
+    res = cbor_encode_task_stats(&enc);
     check_cbor_error(QUIC_CMD_GET);
     quic_send(quic, QUIC_CMD_GET, QUIC_FLAG_NONE, encode_buffer, cbor_encoder_len(&enc));
     break;
diff --git a/src/io/usb_configurator.c b/src/io/usb_configurator.c
index 7b90a5cf4..6b31d9264 100644
--- a/src/io/usb_configurator.c
+++ b/src/io/usb_configurator.c
@@ -8,6 +8,7 @@
 #include "core/looptime.h"
 #include "core/profile.h"
 #include "core/project.h"
+#include "core/scheduler.h"
 #include "driver/reset.h"
 #include "driver/serial.h"
 #include "driver/usb.h"
@@ -141,6 +142,19 @@ void usb_serial_passthrough(serial_ports_t port, uint32_t baudrate, uint8_t stop
 #pragma GCC diagnostic ignored "-Wdouble-promotion"
 // This function will be where all usb send/receive coms live
 void usb_configurator() {
+  if (!usb_detect()) {
+    flags.usb_active = 0;
+    motor_test.active = 0;
+    return;
+  }
+
+  flags.usb_active = 1;
+#ifndef ALLOW_USB_ARMING
+  if (flags.arm_switch) {
+    flags.arm_safety = 1; // final safety check to disallow arming during USB operation
+  }
+#endif
+
   uint32_t buffer_size = 1;
   static uint8_t buffer[BUFFER_SIZE];
 
@@ -200,6 +214,6 @@ void usb_configurator() {
   }
 
   // this will block and handle all usb traffic while active
-  looptime_reset();
+  task_reset_runtime();
 }
 #pragma GCC diagnostic pop
\ No newline at end of file
diff --git a/src/osd/render.c b/src/osd/render.c
index 776321b41..517fc66d8 100644
--- a/src/osd/render.c
+++ b/src/osd/render.c
@@ -9,6 +9,7 @@
 #include "core/looptime.h"
 #include "core/profile.h"
 #include "core/project.h"
+#include "core/scheduler.h"
 #include "driver/osd.h"
 #include "driver/time.h"
 #include "flight/control.h"
@@ -280,8 +281,7 @@ void osd_save_exit() {
     for (int j = 0; j < 3; j++)
       number_of_increments[i][j] = 0;
 
-  // reset loop time - maybe not necessary cause it gets reset in the next screen clear
-  looptime_reset();
+  task_reset_runtime();
 
   if (osd_state.reboot_fc_requested)
     NVIC_SystemReset();
diff --git a/src/rx/express_lrs_radio.c b/src/rx/express_lrs_radio.c
index 83dadbc1a..14debbcd1 100644
--- a/src/rx/express_lrs_radio.c
+++ b/src/rx/express_lrs_radio.c
@@ -4,6 +4,7 @@
 
 #include "core/looptime.h"
 #include "core/project.h"
+#include "core/scheduler.h"
 #include "util/util.h"
 
 #if defined(USE_RX_SPI_EXPRESS_LRS)
@@ -136,7 +137,7 @@ void elrs_set_rate(uint8_t index, int32_t freq, bool invert_iq, uint32_t flrc_sy
   sx128x_set_busy_timeout(100);
 
   current_rate = index;
-  looptime_reset();
+  task_reset_runtime();
 }
 
 void elrs_enter_rx(volatile uint8_t *packet) {
diff --git a/src/rx/flysky.c b/src/rx/flysky.c
index 4d36469b1..d83756794 100644
--- a/src/rx/flysky.c
+++ b/src/rx/flysky.c
@@ -6,7 +6,7 @@
 #include "core/project.h"
 #include "driver/spi_a7105.h"
 #include "driver/time.h"
-#include "flight/control.h" // for state
+#include "flight/control.h"
 #include "util/util.h"
 
 #if defined(USE_RX_SPI_FLYSKY)
diff --git a/src/rx/frsky_redpine.c b/src/rx/frsky_redpine.c
index 10dcb784c..37c233621 100644
--- a/src/rx/frsky_redpine.c
+++ b/src/rx/frsky_redpine.c
@@ -4,6 +4,7 @@
 #include "core/flash.h"
 #include "core/looptime.h"
 #include "core/profile.h"
+#include "core/scheduler.h"
 #include "driver/spi_cc2500.h"
 #include "driver/time.h"
 #include "flight/control.h"
@@ -179,7 +180,7 @@ static uint8_t redpine_handle_packet() {
       flags.failsafe = 1;
       protocol_state = FRSKY_STATE_INIT;
       rx_redpine_init();
-      looptime_reset();
+      task_reset_runtime();
     }
     break;
   }
diff --git a/src/rx/stick_wizard.c b/src/rx/stick_wizard.c
index a5399c249..6e06f33ef 100644
--- a/src/rx/stick_wizard.c
+++ b/src/rx/stick_wizard.c
@@ -4,6 +4,7 @@
 #include "core/looptime.h"
 #include "core/profile.h"
 #include "core/project.h"
+#include "core/scheduler.h"
 #include "driver/time.h"
 #include "flight/control.h"
 #include "io/led.h"
@@ -144,7 +145,7 @@ static void rx_stick_calibration_wizard() {
 
     flash_save();
     flash_load();
-    looptime_reset();
+    task_reset_runtime();
 
     flags.gestures_disabled = 0;
     state.stick_calibration_wizard = STICK_WIZARD_SUCCESS;