message: Add input_xxx to the setpoints for autotuning
diff: @@ -226,9 +226,9 @@ bool Controller::update() {
  autotuning_phase_ = wrap_pm_pi(autotuning_phase_ + (2.0f * M_PI * autotuning_.frequency * current_meas_period));
  float c = our_arm_cos_f32(autotuning_phase_);
  float s = our_arm_sin_f32(autotuning_phase_);
  - pos_setpoint_ = autotuning_.pos_amplitude * s; // + pos_amp_c * c
  - vel_setpoint_ = autotuning_.vel_amplitude * c;
  - torque_setpoint_ = autotuning_.torque_amplitude * -s;
  + pos_setpoint_ = input_pos_ + autotuning_.pos_amplitude * s; // + pos_amp_c * c
  + vel_setpoint_ = input_vel_ + autotuning_.vel_amplitude * c;
  + torque_setpoint_ = input_torque_ + autotuning_.torque_amplitude * -s;
  } break;
  default: {
  set_error(ERROR_INVALID_INPUT_MODE);
  