diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index 9f654aaa93c..e6e771a158b 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1717,8 +1717,10 @@ const clivalue_t valueTable[] = {
     { "expresslrs_model_id",    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, UINT8_MAX }, PG_RX_EXPRESSLRS_SPI_CONFIG, offsetof(rxExpressLrsSpiConfig_t, modelId) },
 #endif
 
-    { "scheduler_relax_rx",  VAR_UINT16  | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_SCHEDULER_CONFIG, PG_ARRAY_ELEMENT_OFFSET(schedulerConfig_t, 0, rxRelaxDeterminism) },
-    { "scheduler_relax_osd", VAR_UINT16  | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_SCHEDULER_CONFIG, PG_ARRAY_ELEMENT_OFFSET(schedulerConfig_t, 0, osdRelaxDeterminism) },
+    { "scheduler_relax_rx",  VAR_UINT16  | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_SCHEDULER_CONFIG, offsetof(schedulerConfig_t, rxRelaxDeterminism) },
+    { "scheduler_relax_osd", VAR_UINT16  | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_SCHEDULER_CONFIG, offsetof(schedulerConfig_t, osdRelaxDeterminism) },
+
+    { "cpu_late_percent_limit", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_SCHEDULER_CONFIG, offsetof(schedulerConfig_t, cpuLatePercentageLimit) },
 
     { "serialmsp_halfduplex", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MSP_CONFIG, offsetof(mspConfig_t, halfDuplex) },
 
diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index ef1898bf176..9d757eb4725 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -323,11 +323,13 @@ void updateArmingStatus(void)
             unsetArmingDisabled(ARMING_DISABLED_ANGLE);
         }
 
-        if (getAverageSystemLoadPercent() > LOAD_PERCENTAGE_ONE) {
+#if defined(USE_LATE_TASK_STATISTICS)
+        if ((getCPUPercentageLate() > schedulerConfig()->cpuLatePercentageLimit)) {
             setArmingDisabled(ARMING_DISABLED_LOAD);
         } else {
             unsetArmingDisabled(ARMING_DISABLED_LOAD);
         }
+#endif // USE_LATE_TASK_STATISTICS
 
         if (isCalibrating()) {
             setArmingDisabled(ARMING_DISABLED_CALIBRATING);
diff --git a/src/main/osd/osd.h b/src/main/osd/osd.h
index d8ee847247c..ded88fb7d4f 100644
--- a/src/main/osd/osd.h
+++ b/src/main/osd/osd.h
@@ -281,6 +281,7 @@ typedef enum {
     OSD_WARNING_RSSI_DBM,
     OSD_WARNING_OVER_CAP,
     OSD_WARNING_RSNR,
+    OSD_WARNING_LOAD,
     OSD_WARNING_COUNT // MUST BE LAST
 } osdWarningsFlags_e;
 
diff --git a/src/main/osd/osd_warnings.c b/src/main/osd/osd_warnings.c
index d7748b8a9e6..4b5e57ccb28 100644
--- a/src/main/osd/osd_warnings.c
+++ b/src/main/osd/osd_warnings.c
@@ -213,6 +213,13 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
         return;
     }
 
+    if (osdWarnGetState(OSD_WARNING_LOAD) && (getArmingDisableFlags() & ARMING_DISABLED_LOAD)) {
+        tfp_sprintf(warningText, "CPU OVERLOAD");
+        *displayAttr = DISPLAYPORT_SEVERITY_CRITICAL;
+        *blinking = true;
+        return;
+    }
+
 #ifdef USE_GPS_RESCUE
     if (osdWarnGetState(OSD_WARNING_GPS_RESCUE_UNAVAILABLE) &&
        ARMING_FLAG(ARMED) &&
diff --git a/src/main/pg/scheduler.c b/src/main/pg/scheduler.c
index 701d673f209..bb1ac8abd5e 100644
--- a/src/main/pg/scheduler.c
+++ b/src/main/pg/scheduler.c
@@ -28,4 +28,5 @@ PG_REGISTER_WITH_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig, PG_SCHEDULER
 PG_RESET_TEMPLATE(schedulerConfig_t, schedulerConfig,
     .rxRelaxDeterminism = SCHEDULER_RELAX_RX,
     .osdRelaxDeterminism = SCHEDULER_RELAX_OSD,
+    .cpuLatePercentageLimit = SCHEDULER_LATE_LIMIT
 );
diff --git a/src/main/pg/scheduler.h b/src/main/pg/scheduler.h
index 6bf098f3a2d..ed5bc7dd020 100644
--- a/src/main/pg/scheduler.h
+++ b/src/main/pg/scheduler.h
@@ -31,9 +31,13 @@
 #define SCHEDULER_RELAX_OSD 25
 #endif
 
+// Tenths of a % of tasks late
+#define SCHEDULER_LATE_LIMIT 50
+
 typedef struct schedulerConfig_s {
     uint16_t rxRelaxDeterminism;
     uint16_t osdRelaxDeterminism;
+    uint16_t cpuLatePercentageLimit;
 } schedulerConfig_t;
 
 PG_DECLARE(schedulerConfig_t, schedulerConfig);
diff --git a/src/main/scheduler/scheduler.c b/src/main/scheduler/scheduler.c
index a072d2205be..74e575e7c14 100644
--- a/src/main/scheduler/scheduler.c
+++ b/src/main/scheduler/scheduler.c
@@ -107,6 +107,7 @@ static uint8_t skippedOSDAttempts = 0;
 static int16_t lateTaskCount = 0;
 static uint32_t lateTaskTotal = 0;
 static int16_t taskCount = 0;
+static uint32_t lateTaskPercentage = 0;
 static uint32_t nextTimingCycles;
 #endif
 
@@ -199,6 +200,12 @@ void taskSystemLoad(timeUs_t currentTimeUs)
 #endif
 }
 
+uint32_t getCPUPercentageLate(void)
+{
+    return lateTaskPercentage;
+
+}
+
 timeUs_t checkFuncMaxExecutionTimeUs;
 timeUs_t checkFuncTotalExecutionTimeUs;
 timeUs_t checkFuncMovingSumExecutionTimeUs;
@@ -535,6 +542,7 @@ FAST_CODE void scheduler(void)
                 // Total tasks run in last second
                 DEBUG_SET(DEBUG_TIMING_ACCURACY, 3, taskCount);
 
+                lateTaskPercentage = 1000 * (uint32_t)lateTaskCount / taskCount;
                 lateTaskCount = 0;
                 lateTaskTotal = 0;
                 taskCount = 0;
diff --git a/src/main/scheduler/scheduler.h b/src/main/scheduler/scheduler.h
index d18511378bd..983baa68dbe 100644
--- a/src/main/scheduler/scheduler.h
+++ b/src/main/scheduler/scheduler.h
@@ -243,6 +243,7 @@ void schedulerInit(void);
 void scheduler(void);
 timeUs_t schedulerExecuteTask(task_t *selectedTask, timeUs_t currentTimeUs);
 void taskSystemLoad(timeUs_t currentTimeUs);
+uint32_t getCPUPercentageLate(void);
 void schedulerEnableGyro(void);
 uint16_t getAverageSystemLoadPercent(void);
 float schedulerGetCycleTimeMultiplier(void);
diff --git a/src/test/unit/arming_prevention_unittest.cc b/src/test/unit/arming_prevention_unittest.cc
index cc345147c46..162e95aedc0 100644
--- a/src/test/unit/arming_prevention_unittest.cc
+++ b/src/test/unit/arming_prevention_unittest.cc
@@ -1161,4 +1161,5 @@ extern "C" {
         return 0.0f;
     }
     void getRcDeflectionAbs(void) {}
+    uint32_t getCPUPercentageLate(void) { return 0; };
 }