diff --git a/Firmware/Timer.cpp b/Firmware/Timer.cpp
index a94a8586a..f63bf2969 100644
--- a/Firmware/Timer.cpp
+++ b/Firmware/Timer.cpp
@@ -64,5 +64,18 @@ bool Timer<T>::expired(T msPeriod)
     return expired;
 }
 
+/**
+ * @brief Ticks since the timer was started
+ *
+ * This function returns 0 if the timer is not started. Otherwise, it returns
+ * the time in milliseconds since the timer was started.
+ * This function is expected to handle wrap around of time register well.
+ * The maximum elapsed time is dictated by the template type
+ */
+template<typename T>
+T Timer<T>::elapsed() {
+  return m_isRunning ? (_millis() - m_started) : 0;
+}
+
 template class Timer<unsigned long>;
 template class Timer<unsigned short>;
diff --git a/Firmware/Timer.h b/Firmware/Timer.h
index 599371b4e..dcff52232 100644
--- a/Firmware/Timer.h
+++ b/Firmware/Timer.h
@@ -22,6 +22,7 @@ public:
     void stop(){m_isRunning = false;}
     bool running()const {return m_isRunning;}
     bool expired(T msPeriod);
+    T elapsed();
 protected:
     T started()const {return m_started;}
 private: