diff --git a/examples/foc/foc_device.c b/examples/foc/foc_device.c
index 01c49d62c..5c39315be 100644
--- a/examples/foc/foc_device.c
+++ b/examples/foc/foc_device.c
@@ -144,15 +144,6 @@ int foc_device_start(FAR struct foc_device_s *dev, bool state)
           PRINTFV("ERROR: foc_dev_start failed %d!\n", ret);
           goto errout;
         }
-
-#ifdef CONFIG_EXAMPLES_FOC_PERF
-      /* Skip this cycle in stats. When the dev is started, many components
-       * are initialized, which significantly increases the cycle time and
-       * disturbs the statistics.
-       */
-
-      foc_perf_skip(&dev->perf);
-#endif
     }
   else
     {
diff --git a/examples/foc/foc_fixed16_thr.c b/examples/foc/foc_fixed16_thr.c
index 63ccd3312..6e8abd0e9 100644
--- a/examples/foc/foc_fixed16_thr.c
+++ b/examples/foc/foc_fixed16_thr.c
@@ -386,6 +386,10 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
             }
 
           motor.startstop = false;
+
+          /* Start from the beginning of the control loop */
+
+          continue;
         }
 
       /* Ignore control logic if controller not started yet */
diff --git a/examples/foc/foc_float_thr.c b/examples/foc/foc_float_thr.c
index e169d892d..39aa5e481 100644
--- a/examples/foc/foc_float_thr.c
+++ b/examples/foc/foc_float_thr.c
@@ -399,6 +399,10 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
             }
 
           motor.startstop = false;
+
+          /* Start from the beginning of the control loop */
+
+          continue;
         }
 
       /* Ignore control logic if controller not started yet */
diff --git a/examples/foc/foc_perf.c b/examples/foc/foc_perf.c
index 005fe970e..74e378f2c 100644
--- a/examples/foc/foc_perf.c
+++ b/examples/foc/foc_perf.c
@@ -56,15 +56,6 @@ void foc_perf_start(struct foc_perf_s *p)
   p->now = perf_gettime();
 }
 
-/****************************************************************************
- * Name: foc_perf_skip
- ****************************************************************************/
-
-void foc_perf_skip(struct foc_perf_s *p)
-{
-  p->skip = true;
-}
-
 /****************************************************************************
  * Name: foc_perf_end
  ****************************************************************************/
@@ -75,16 +66,9 @@ void foc_perf_end(struct foc_perf_s *p)
 
   p->max_changed = false;
 
-  if (p->skip == false)
+  if (p->now > p->max)
     {
-      if (p->now > p->max)
-        {
-          p->max = p->now;
-          p->max_changed = true;
-        }
+      p->max = p->now;
+      p->max_changed = true;
     }
-
-  /* Reset skip flag */
-
-  p->skip = false;
 }
diff --git a/examples/foc/foc_perf.h b/examples/foc/foc_perf.h
index 3cfb2a724..9303c2b9f 100644
--- a/examples/foc/foc_perf.h
+++ b/examples/foc/foc_perf.h
@@ -40,7 +40,6 @@
 struct foc_perf_s
 {
   bool     max_changed;
-  bool     skip;
   uint32_t max;
   uint32_t now;
 };
@@ -51,7 +50,6 @@ struct foc_perf_s
 
 int foc_perf_init(struct foc_perf_s *p);
 void foc_perf_start(struct foc_perf_s *p);
-void foc_perf_skip(struct foc_perf_s *p);
 void foc_perf_end(struct foc_perf_s *p);
 
 #endif /* __APPS_EXAMPLES_FOC_FOC_PERF_H */