Hardware fault "No fault detected (-1)" when switching the control mode in torque, ems 3.110

[Nicogene]

Alongside @martinaxgloria and @isorrentino we noticed that both on iCub and ergoCub with ems firmware v3.110, the joints goes in hardware fault when switching in torque control, with fault "No fault detected (-1)" even if the torque feedback is present

cc @MSECode @marcoaccame @valegagge

[MSECode]

Oks,
I suppose that the problem was probably present also from previous fw versions since v3.110 includes updates only related to the bootloader #647. Thus it might be due to: #610 or #586
So I will first check if the problem is still present with fw version v3.108 and if not with version v3.109.
I think that the robot was updated from a quite old version (maybe v3.104) so we can check with those versions, what do u think ? So we can a cleaner view of what is happening. That error message is usually related to a generic error that is not collected by the current diagnostic and it is always unclear which is the root cause.
I can start investigating on it using the torso_pitch setup