diff --git a/radio/src/CMakeLists.txt b/radio/src/CMakeLists.txt
index dafa3d1f4..d715286bd 100644
--- a/radio/src/CMakeLists.txt
+++ b/radio/src/CMakeLists.txt
@@ -486,6 +486,7 @@ if(ARCH STREQUAL ARM)
   option(MULTIMODULE "DIY Multiprotocol TX Module (https://github.com/pascallanger/DIY-Multiprotocol-TX-Module)" OFF)
   option(SUPPORT_D16_EU_ONLY "XJT module only supports D16-EU and LR12-EU" OFF) # TODO rename to XJT_EU_ONLY
   option(DEBUG_INTERRUPTS "Count interrupts" OFF)
+  option(DEBUG_TASKS "Task switching statistics" OFF)
 
   if(TIMERS EQUAL 3)
     add_definitions(-DTIMERS=3)
@@ -517,6 +518,10 @@ if(ARCH STREQUAL ARM)
     add_definitions(-DDEBUG_INTERRUPTS)
     set(DEBUG ON)
   endif()
+  if(DEBUG_TASKS)
+    add_definitions(-DDEBUG_TASKS)
+    set(DEBUG ON)
+  endif()
   if(CLI)
     add_definitions(-DCLI)
     set(FIRMWARE_SRC ${FIRMWARE_SRC} cli.cpp)
diff --git a/radio/src/cli.cpp b/radio/src/cli.cpp
index 41fef09ed..3bcd12439 100644
--- a/radio/src/cli.cpp
+++ b/radio/src/cli.cpp
@@ -373,6 +373,60 @@ void printInterrupts()
 }
 #endif //#if defined(DEBUG_INTERRUPTS)
 
+#if defined(DEBUG_TASKS)
+
+void printTaskSwitchLog() 
+{
+  serialPrint("Tasks legend [<task_id>, <task name>]:");
+  for(int n = 0; n <= CFG_MAX_USER_TASKS+1; n++) {
+    if (0 == n) {
+      serialPrint("%d: Idle", n);
+    }
+    if (cliTaskId == n) {
+      serialPrint("%d: CLI", n);
+    }
+    else if (menusTaskId == n) {
+      serialPrint("%d: menus", n);
+    }
+    else if (mixerTaskId == n) {
+      serialPrint("%d: mixer", n);
+    }
+    else if (audioTaskId == n) {
+      serialPrint("%d: audio", n);
+    }
+#if defined(BLUETOOTH)
+    else if (btTaskId == n) {
+      serialPrint("%d: BT", n);
+    }
+#endif
+  }
+  serialCrlf();
+
+  serialPrint("Tasks switch log at %u [<time>, <task_id>]:", get_tmr10ms());
+  uint32_t lastSwitchTime = 0;
+  uint32_t * tsl = new uint32_t[DEBUG_TASKS_LOG_SIZE];
+  memcpy(tsl, taskSwitchLog, sizeof(taskSwitchLog));
+  uint32_t * p = tsl + taskSwitchLogPos;
+  uint32_t * end = tsl + DEBUG_TASKS_LOG_SIZE;
+  for(int n = 0; n < DEBUG_TASKS_LOG_SIZE; n++) {
+    uint32_t taskId = *p >> 24;
+    uint32_t switchTime = *p & 0xFFFFFF;
+    if (lastSwitchTime != switchTime) {
+      serialPrintf("\r\n%06x: ", switchTime);
+      lastSwitchTime = switchTime;
+    }
+    serialPrintf("%u ", taskId);
+    if ( ++p >= end ) {
+      p = tsl;
+    }
+  }
+  delete[] tsl;
+  serialCrlf();
+}
+
+
+#endif // #if defined(DEBUG_TASKS)
+
 int cliDisplay(const char ** argv)
 {
   long long int address = 0;
@@ -505,6 +559,11 @@ int cliDisplay(const char ** argv)
     printInterrupts();
   }
 #endif //#if defined(DEBUG_INTERRUPTS)
+#if defined(DEBUG_TASKS)
+  else if (!strcmp(argv[1], "tsl")) {
+    printTaskSwitchLog();
+  }
+#endif //#if defined(DEBUG_TASKS)
   else if (toLongLongInt(argv, 1, &address) > 0) {
     int size = 256;
     if (toInt(argv, 2, &size) >= 0) {
diff --git a/radio/src/cli.h b/radio/src/cli.h
index 634c37caa..06579fff3 100644
--- a/radio/src/cli.h
+++ b/radio/src/cli.h
@@ -30,6 +30,7 @@ extern uint8_t cliTracesEnabled;
 extern Fifo<uint8_t, 256> cliRxFifo;
 #include "tasks_arm.h"
 #define CLI_STACK_SIZE                 1000
+extern OS_TID cliTaskId;
 extern TaskStack<CLI_STACK_SIZE> cliStack;
 #endif
 
diff --git a/radio/src/debug.cpp b/radio/src/debug.cpp
index ee90a686d..f7d89d472 100644
--- a/radio/src/debug.cpp
+++ b/radio/src/debug.cpp
@@ -139,3 +139,29 @@ void dumpTraceBuffer()
 
 struct InterruptCounters interruptCounters;
 #endif //#if defined(DEBUG_INTERRUPTS)
+
+#if defined(DEBUG_TASKS)
+
+uint32_t taskSwitchLog[DEBUG_TASKS_LOG_SIZE] __SDRAM;
+uint16_t taskSwitchLogPos;
+
+/**
+ *******************************************************************************
+ * @brief      Hook for task switch logging
+ * @param[in]  taskID Task which is now in RUNNING state
+ * @retval     None
+ *
+ * @par Description
+ * @details    This function logs the time when a task entered the RUNNING state.
+ *******************************************************************************
+ */
+void CoTaskSwitchHook(uint8_t taskID)
+{
+  /* Log task switch here */
+  taskSwitchLog[taskSwitchLogPos] = (taskID << 24) + ((uint32_t)CoGetOSTime() & 0xFFFFFF);
+  if(++taskSwitchLogPos >= DEBUG_TASKS_LOG_SIZE) {
+    taskSwitchLogPos = 0;
+  }
+}
+
+#endif // #if defined(DEBUG_TASKS)
diff --git a/radio/src/debug.h b/radio/src/debug.h
index 878960aec..006143d08 100644
--- a/radio/src/debug.h
+++ b/radio/src/debug.h
@@ -236,6 +236,25 @@ extern struct InterruptCounters interruptCounters;
 #define DEBUG_INTERRUPT(int)
 #endif //#if defined(DEBUG_INTERRUPTS)
 
+#if defined(DEBUG_TASKS)
+
+#define DEBUG_TASKS_LOG_SIZE    512
+
+// each 32bit is used as:
+//    top 8 bits: task id
+//    botom 24 bits: system tick counter
+extern uint32_t taskSwitchLog[DEBUG_TASKS_LOG_SIZE];
+extern uint16_t taskSwitchLogPos;
+
+#if defined(__cplusplus)
+extern "C" {
+#endif
+extern void CoTaskSwitchHook(uint8_t taskID);
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // #if defined(DEBUG_TASKS)
 
 #endif // _DEBUG_H_
 
diff --git a/radio/src/tasks_arm.h b/radio/src/tasks_arm.h
index d01a516b7..b26bd1795 100644
--- a/radio/src/tasks_arm.h
+++ b/radio/src/tasks_arm.h
@@ -71,6 +71,11 @@ extern TaskStack<MIXER_STACK_SIZE> mixerStack;
 extern OS_TID audioTaskId;
 extern TaskStack<AUDIO_STACK_SIZE> audioStack;
 
+#if defined(BLUETOOTH)
+extern OS_TID btTaskId;
+extern TaskStack<BLUETOOTH_STACK_SIZE> bluetoothStack;
+#endif
+
 void tasksStart();
 
 #endif // _TASKS_ARM_H_
diff --git a/radio/src/thirdparty/CoOS/kernel/task.c b/radio/src/thirdparty/CoOS/kernel/task.c
index a1b36555d..91eab5eaa 100644
--- a/radio/src/thirdparty/CoOS/kernel/task.c
+++ b/radio/src/thirdparty/CoOS/kernel/task.c
@@ -39,6 +39,7 @@
 
 /*---------------------------- Include ---------------------------------------*/
 #include <coocox.h>
+#include "debug.h"
 
 /*---------------------------- Variable Define -------------------------------*/
 
@@ -790,7 +791,12 @@ void Schedule(void)
         CoStkOverflowHook(pCurTcb->taskID);       /* Yes,call handler         */		
     }   
 #endif
- 	
+
+
+#if defined(DEBUG_TASKS)
+    CoTaskSwitchHook(pRdyTcb->taskID);
+#endif
+
     SwitchContext();                              /* Call task context switch */
 }