diff --git a/frc971/control_loops/drivetrain/drivetrain.cc b/frc971/control_loops/drivetrain/drivetrain.cc
index 7f50da8..168f87f 100644
--- a/frc971/control_loops/drivetrain/drivetrain.cc
+++ b/frc971/control_loops/drivetrain/drivetrain.cc
@@ -614,6 +614,8 @@
     }
     status->is_done = done;
     status->robot_speed = dt_closedloop.GetEstimatedRobotSpeed();
+    status->filtered_left_position = dt_closedloop.GetEstimatedLeftEncoder();
+    status->filtered_right_position = dt_closedloop.GetEstimatedRightEncoder();
   }
 }
 
diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index a3706bc..32eb2fb 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -52,6 +52,8 @@
   message Status {
     bool is_done;
     double robot_speed;
+    double filtered_left_position;
+    double filtered_right_position;
   };
 
   queue Goal goal;