copy rotation with different axis

Is there a way to do something like a copy rotation constraint, but copying from one axis to a different axis?

I am creating an airplane model, I want to have bones that will control the control surfaces, so for instance, there will be a bone that when rotated around its x-axis should cause the rudder to rotate around its own z-axis.

Now, I guess I could create an empty, rotate it to the proper orientation and parent the rudder to the empty, then use copy rotation to the empty, but I was just wondering if there is a way to copy directly from one axis to a different axis.

that would be with the Transformation constraint. This one allows you to drive the Loc, Rot or Scale on any axis of an object with either the Loc, Rot or Scale on any axis of another object.

set the min & max rotation for both the source and the target to -360 & 360 on the desired axes for continuous rotation

That works. Thanks!