diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
index 26e0f816..817e39e1 100644
--- a/tools/odrive/enums.py
+++ b/tools/odrive/enums.py
@@ -61,6 +61,7 @@ CTRL_MODE_VOLTAGE_CONTROL = 0
 CTRL_MODE_CURRENT_CONTROL = 1
 CTRL_MODE_VELOCITY_CONTROL = 2
 CTRL_MODE_POSITION_CONTROL = 3
+CTRL_MODE_TRAJECTORY_CONTROL = 4
 
 ENCODER_MODE_INCREMENTAL = 0
 ENCODER_MODE_HALL = 1