What is the test for liability under the natural and probable consequences doctrine?

For purposes of our analysis, the issue is whether false imprisonment, attempting to dissuade a victim from reporting a crime, and making a criminal threat are natural and probable consequences of robbery or burglary, the crimes Tarver intended to aid and abet. "Liability under the natural and probable consequences doctrine 'is measured by whether a reasonable person in the defendant's position would have or should have known that the charged offense was a reasonably foreseeable consequence of the act aided and abetted.' [Citation.]" (People v. Medina, supra, 46 Cal.4th 913, 920.)