diff --git a/frc971/control_loops/drivetrain/drivetrain_status.fbs b/frc971/control_loops/drivetrain/drivetrain_status.fbs
index 89dc3d5..8158e75 100644
--- a/frc971/control_loops/drivetrain/drivetrain_status.fbs
+++ b/frc971/control_loops/drivetrain/drivetrain_status.fbs
@@ -77,6 +77,7 @@
   left_velocity:float (id: 9);
   right_velocity:float (id: 10);
   distance_remaining:float (id: 11);
+  distance_traveled:float (id: 13);
 
   // Splines that we have full plans for.
   available_splines:[int] (id: 12);
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index 0f9418c..ddcf63d 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -256,6 +256,8 @@
           ? CHECK_NOTNULL(current_trajectory())->length() - current_xva_.x()
           : 0.0);
   trajectory_logging_builder.add_available_splines(handles_vector);
+  trajectory_logging_builder.add_distance_traveled(
+      executing_spline_ ? current_xva_.x() : 0.0);
 
   return trajectory_logging_builder.Finish();
 }