diff --git a/frc971/control_loops/drivetrain/drivetrain.q b/frc971/control_loops/drivetrain/drivetrain.q
index 939ad75..c6af732 100644
--- a/frc971/control_loops/drivetrain/drivetrain.q
+++ b/frc971/control_loops/drivetrain/drivetrain.q
@@ -63,6 +63,7 @@
   float theta;
   float left_velocity;
   float right_velocity;
+  float distance_remaining;
 };
 
 // For logging state of the line follower.
diff --git a/frc971/control_loops/drivetrain/splinedrivetrain.cc b/frc971/control_loops/drivetrain/splinedrivetrain.cc
index 2eb434a..1f7e2b0 100644
--- a/frc971/control_loops/drivetrain/splinedrivetrain.cc
+++ b/frc971/control_loops/drivetrain/splinedrivetrain.cc
@@ -218,6 +218,9 @@
         (current_spline_idx_ != -1) && IsAtEnd();
     status->trajectory_logging.goal_spline_handle = current_spline_handle_;
     status->trajectory_logging.current_spline_idx = current_spline_idx_;
+    status->trajectory_logging.distance_remaining =
+        current_trajectory_ ? current_trajectory_->length() - current_xva_.x()
+                            : 0.0;
 
     int32_t planning_spline_idx = planning_spline_idx_;
     if (current_spline_idx_ == planning_spline_idx) {