From be55b90e655e2d49344b96b176eebca283f99e81 Mon Sep 17 00:00:00 2001
From: Felix Exner <feex@universal-robots.com>
Date: Fri, 5 Jun 2026 11:07:01 +0200
Subject: [PATCH] Add new controller_step RTDE field

---
 src/rtde/data_package.cpp                         | 1 +
 tests/resources/exhaustive_rtde_output_recipe.txt | 1 +
 2 files changed, 2 insertions(+)

diff --git a/src/rtde/data_package.cpp b/src/rtde/data_package.cpp
index 4d6b8112f..6b1b81ac8 100644
--- a/src/rtde/data_package.cpp
+++ b/src/rtde/data_package.cpp
@@ -454,6 +454,7 @@ std::unordered_map<std::string, DataPackage::_rtde_type_variant> DataPackage::g_
   { "time_scale_source", int32_t() },
   { "target_gravity", vector3d_t() },
   { "target_base_acceleration", vector6d_t() },
+  { "controller_step", uint64_t() },
 
   // NOT IN OFFICIAL DOCS
   { "tool_digital_output_mask", uint8_t() },
diff --git a/tests/resources/exhaustive_rtde_output_recipe.txt b/tests/resources/exhaustive_rtde_output_recipe.txt
index 581322d70..41ef95108 100644
--- a/tests/resources/exhaustive_rtde_output_recipe.txt
+++ b/tests/resources/exhaustive_rtde_output_recipe.txt
@@ -402,3 +402,4 @@ script_control_line
 time_scale_source
 target_gravity
 target_base_acceleration
+controller_step