diff --git a/src/main/java/frc/robot/subsystems/drive/Drive.java b/src/main/java/frc/robot/subsystems/drive/Drive.java
index 41a6c05..f6686d3 100644
--- a/src/main/java/frc/robot/subsystems/drive/Drive.java
+++ b/src/main/java/frc/robot/subsystems/drive/Drive.java
@@ -89,6 +89,9 @@ public class Drive extends SubsystemBase {
       };
   private ChassisVelocities chassisVelocities;
 
+  // PathPlanner trajectory logging (stored each loop for AKit compatibility)
+  private Pose2d[] lastTrajectory = new Pose2d[0];
+
   // PID controllers for following Choreo trajectories
   private final PIDController xController = new PIDController(8.01, 0.0, 0.0);
   private final PIDController yController = new PIDController(8.01, 0.0, 0.0);
@@ -127,12 +130,7 @@ public Drive(
     Pathfinding.setPathfinder(new LocalADStarAK());
     PathPlannerLogging.setLogActivePathCallback(
         (activePath) -> {
-          Logger.recordOutput(
-              "Odometry/Trajectory", activePath.toArray(new Pose2d[activePath.size()]));
-        });
-    PathPlannerLogging.setLogTargetPoseCallback(
-        (targetPose) -> {
-          Logger.recordOutput("Odometry/TrajectorySetpoint", targetPose);
+          if (!activePath.isEmpty()) lastTrajectory = activePath.toArray(new Pose2d[0]);
         });
 
     // Configure SysId
@@ -217,6 +215,9 @@ public void periodic() {
     gyroDisconnectedAlert.set(gyroDisconnected);
     Logger.recordOutput("Faults/Drive/GyroDisconnected", gyroDisconnected);
 
+    // Log PathPlanner trajectory (stored by callback, recorded here for AKit compatibility)
+    Logger.recordOutput("Odometry/Trajectory", lastTrajectory);
+
     // Profiling output
     if (FeatureFlags.PROFILING_ENABLED) {
       long totalMs = (t6 - startNanos) / 1_000_000;