message: Add torque FF to axis mirroring
diff: @@ -161,14 +161,16 @@ bool Controller::update() {
  if (config_.axis_to_mirror < AXIS_COUNT) {
  std::optional<float> other_pos = axes[config_.axis_to_mirror].encoder_.pos_estimate_.present();
  std::optional<float> other_vel = axes[config_.axis_to_mirror].encoder_.vel_estimate_.present();
  + std::optional<float> other_torque = axes[config_.axis_to_mirror].controller_.torque_output_.present();
  - if (!other_pos.has_value() || !other_vel.has_value()) {
  + if (!other_pos.has_value() || !other_vel.has_value() || !other_torque.has_value()) {
  set_error(ERROR_INVALID_ESTIMATE);
  return false;
  }
  pos_setpoint_ = *other_pos * config_.mirror_ratio;
  vel_setpoint_ = *other_vel * config_.mirror_ratio;
  + torque_setpoint_ = *other_torque * config_.mirror_ratio;
  } else {
  set_error(ERROR_INVALID_MIRROR_AXIS);
  return false;
  