diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 98d790bd..e2400c9a 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -206,7 +206,7 @@ void Axis::watchdog_feed() {
 // @brief Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
 bool Axis::watchdog_check() {
     // reset value = 0 means watchdog disabled.
-    if(!config_.enable_watchdog) return true;
+    if (!config_.enable_watchdog) return true;
     if (get_watchdog_reset() == 0) return true;
 
     // explicit check here to ensure that we don't underflow back to UINT32_MAX
@@ -305,12 +305,21 @@ bool Axis::run_closed_loop_control_loop() {
 
     // Avoid integrator windup issues
     controller_.vel_integrator_current_ = 0.0f;
-    
+
     set_step_dir_active(config_.enable_step_dir);
     run_control_loop([this]() {
         // Note that all estimators are updated in the loop prefix in run_control_loop
         float current_setpoint;
-        if (!controller_.update(encoder_.pos_estimate_, encoder_.vel_estimate_, &current_setpoint))
+        if (controller_.config_.use_load_encoder) {
+            if (controller_.config_.load_encoder_axis < AXIS_COUNT) {
+                Axis* ax = axes[controller_.config_.load_encoder_axis];
+                if (!controller_.update(ax->encoder_.pos_estimate_, encoder_.vel_estimate_, &current_setpoint))
+                    return error_ |= ERROR_CONTROLLER_FAILED, false;
+            } else{
+                controller_.set_error(Controller::ERROR_INVALID_LOAD_ENCODER);
+                return error_ |= ERROR_CONTROLLER_FAILED, false;
+            }
+        } else if (!controller_.update(encoder_.pos_estimate_, encoder_.vel_estimate_, &current_setpoint))
             return error_ |= ERROR_CONTROLLER_FAILED, false;  //TODO: Make controller.set_error
         float phase_vel = 2 * M_PI * encoder_.vel_estimate_ / (float)encoder_.config_.cpr * motor_.config_.pole_pairs;
         if (!motor_.update(current_setpoint, encoder_.phase_, phase_vel))
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index efadbcea..a52eb858 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -88,6 +88,10 @@ class Axis {
         LockinConfig_t lockin;
         uint8_t can_node_id            = 0;  // Both axes will have the same id to start
         uint32_t can_heartbeat_rate_ms = 100;
+
+        bool use_load_encoder         = false;
+        uint8_t load_encoder_axis     = -1;
+        float load_encoder_ratio      = 1.0f;
     };
 
     struct Homing_t {
diff --git a/Firmware/MotorControl/controller.cpp b/Firmware/MotorControl/controller.cpp
index 48646068..215d3c17 100644
--- a/Firmware/MotorControl/controller.cpp
+++ b/Firmware/MotorControl/controller.cpp
@@ -129,8 +129,8 @@ float limitVel(const float vel_limit, const float vel_estimate, const float vel_
 
 bool Controller::update(float pos_estimate, float vel_estimate, float* current_setpoint_output) {
     // Only runs if config_.anticogging.calib_anticogging is true; non-blocking
-    anticogging_calibration(pos_estimate, vel_estimate);
-    float anticogging_pos = pos_estimate / axis_->encoder_.getCoggingRatio();
+    anticogging_calibration(axis_->encoder_.pos_estimate_, vel_estimate);
+    float anticogging_pos = axis_->encoder_.pos_estimate_ / axis_->encoder_.getCoggingRatio();
 
     // Update inputs
     switch (config_.input_mode) {
diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
index 54e2acdc..c31692b0 100644
--- a/Firmware/MotorControl/controller.hpp
+++ b/Firmware/MotorControl/controller.hpp
@@ -8,11 +8,12 @@
 class Controller {
    public:
     enum Error_t {
-        ERROR_NONE                = 0,
-        ERROR_OVERSPEED           = 0x01,
-        ERROR_INVALID_INPUT_MODE  = 0x02,
-        ERROR_UNSTABLE_GAIN       = 0x04,
-        ERROR_INVALID_MIRROR_AXIS = 0x08,
+        ERROR_NONE                 = 0,
+        ERROR_OVERSPEED            = 0x01,
+        ERROR_INVALID_INPUT_MODE   = 0x02,
+        ERROR_UNSTABLE_GAIN        = 0x04,
+        ERROR_INVALID_MIRROR_AXIS  = 0x08,
+        ERROR_INVALID_LOAD_ENCODER = 0x10,
     };
 
     // Note: these should be sorted from lowest level of control to
@@ -69,6 +70,9 @@ class Controller {
         bool enable_current_vel_limit = true;
         uint8_t axis_to_mirror        = -1;
         float mirror_ratio            = 1.0f;
+        bool use_load_encoder         = false;
+        uint8_t load_encoder_axis     = -1;
+        float load_encoder_ratio      = 1.0f;
     };
 
     explicit Controller(Config_t& config);
@@ -153,6 +157,9 @@ class Controller {
                                  make_protocol_property("inertia", &config_.inertia),
                                  make_protocol_property("axis_to_mirror", &config_.axis_to_mirror),
                                  make_protocol_property("mirror_ratio", &config_.mirror_ratio),
+                                 make_protocol_property("use_load_encoder", &config_.use_load_encoder),
+                                 make_protocol_property("load_encoder_ratio", &config_.load_encoder_ratio),
+                                 make_protocol_property("load_encoder_axis", &config_.load_encoder_axis),
                                  make_protocol_property("input_filter_bandwidth", &config_.input_filter_bandwidth,
                                                         [](void* ctx) { static_cast<Controller*>(ctx)->update_filter_gains(); }, this),
                                  make_protocol_object("anticogging",