diff --git a/include/CCC/DdpCentroidal.h b/include/CCC/DdpCentroidal.h
index 8375a65..71c4bf4 100644
--- a/include/CCC/DdpCentroidal.h
+++ b/include/CCC/DdpCentroidal.h
@@ -362,5 +362,8 @@ class DdpCentroidal
 
   //! Force scale limits (i.e., limits of \f$\lambda_i\f$ in the order of lower, upper)
   std::array<double, 2> force_scale_limits_ = {0.0, 1e6};
+
+  //! Latest returned value from DDP solver
+  bool ddp_solved_ = false;
 };
 } // namespace CCC
diff --git a/src/DdpCentroidal.cpp b/src/DdpCentroidal.cpp
index e09b242..404c703 100644
--- a/src/DdpCentroidal.cpp
+++ b/src/DdpCentroidal.cpp
@@ -226,11 +226,11 @@ Eigen::VectorXd DdpCentroidal::planOnce(const std::function<MotionParam(double)>
       double t = current_time + i * ddp_problem_->dt();
       current_u_list.push_back(DdpProblem::InputDimVector::Zero(ddp_problem_->inputDim(t)));
     }
-    ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), current_u_list);
+    ddp_solved_ = ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), current_u_list);
   }
   else
   {
-    ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), initial_param.u_list);
+    ddp_solved_ = ddp_solver_->solve(current_time, initial_param.toState(ddp_problem_->mass_), initial_param.u_list);
   }
 
   return ddp_solver_->controlData().u_list[0];