diff --git a/mission/controller/AcsController.cpp b/mission/controller/AcsController.cpp
index f827950a..c7bbe0aa 100644
--- a/mission/controller/AcsController.cpp
+++ b/mission/controller/AcsController.cpp
@@ -416,7 +416,6 @@ void AcsController::performPointingCtrl() {
       enableAntiStiction = acsParameters.inertialModeControllerParameters.enableAntiStiction;
       break;
   }
-
   if (enableAntiStiction) {
     ptgCtrl.rwAntistiction(&sensorValues, torqueRwsScaled);
   }
@@ -425,13 +424,14 @@ void AcsController::performPointingCtrl() {
       sensorValues.rw1Set.currSpeed.value, sensorValues.rw2Set.currSpeed.value,
       sensorValues.rw3Set.currSpeed.value, sensorValues.rw4Set.currSpeed.value, torqueRwsScaled,
       cmdSpeedRws, acsParameters.onBoardParams.sampleTime,
+      acsParameters.rwHandlingParameters.maxRwSpeed,
       acsParameters.rwHandlingParameters.inertiaWheel);
   actuatorCmd.cmdDipolMtq(mgtDpDes, cmdDipolMtqs,
                           *acsParameters.magnetorquerParameter.inverseAlignment,
                           acsParameters.magnetorquerParameter.dipolMax);
 
   updateCtrlValData(targetQuat, errorQuat, errorAngle, targetSatRotRate);
-  updateActuatorCmdData(rwTrqNs, cmdSpeedRws, cmdDipolMtqs);
+  updateActuatorCmdData(torqueRwsScaled, cmdSpeedRws, cmdDipolMtqs);
   //  commandActuators(cmdDipolMtqs[0], cmdDipolMtqs[1], cmdDipolMtqs[2],
   //                   acsParameters.magnetorquesParameter.torqueDuration, cmdSpeedRws[0],
   //                   cmdSpeedRws[1], cmdSpeedRws[2], cmdSpeedRws[3],
diff --git a/mission/controller/acs/AcsParameters.cpp b/mission/controller/acs/AcsParameters.cpp
index f39ea601..4abe0d7a 100644
--- a/mission/controller/acs/AcsParameters.cpp
+++ b/mission/controller/acs/AcsParameters.cpp
@@ -270,15 +270,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
           parameterWrapper->set(rwHandlingParameters.maxTrq);
           break;
         case 0x2:
-          parameterWrapper->set(rwHandlingParameters.stictionSpeed);
+          parameterWrapper->set(rwHandlingParameters.maxRwSpeed);
           break;
         case 0x3:
-          parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
+          parameterWrapper->set(rwHandlingParameters.stictionSpeed);
           break;
         case 0x4:
-          parameterWrapper->set(rwHandlingParameters.stictionTorque);
+          parameterWrapper->set(rwHandlingParameters.stictionReleaseSpeed);
           break;
         case 0x5:
+          parameterWrapper->set(rwHandlingParameters.stictionTorque);
+          break;
+        case 0x6:
           parameterWrapper->set(rwHandlingParameters.rampTime);
           break;
         default:
diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index 8dc6e1ee..98cbd9ad 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -784,6 +784,7 @@ class AcsParameters : public HasParametersIF {
   struct RwHandlingParameters {
     double inertiaWheel = 0.000028198;
     double maxTrq = 0.0032;               // 3.2 [mNm]
+    int32_t maxRwSpeed = 65000;       // 0.1 RPM
     int32_t stictionSpeed = 100;          // RPM
     int32_t stictionReleaseSpeed = 120;   // RPM
     double stictionTorque = 0.0006;
diff --git a/mission/controller/acs/ActuatorCmd.cpp b/mission/controller/acs/ActuatorCmd.cpp
index 588ee82a..592fc69d 100644
--- a/mission/controller/acs/ActuatorCmd.cpp
+++ b/mission/controller/acs/ActuatorCmd.cpp
@@ -30,7 +30,7 @@ void ActuatorCmd::scalingTorqueRws(const double *rwTrq, double *rwTrqScaled, dou
 
 void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2,
                                 int32_t speedRw3, const double *rwTorque, int32_t *rwCmdSpeed,
-                                double sampleTime, double inertiaWheel) {
+                                double sampleTime, int32_t maxRwSpeed, double inertiaWheel) {
   using namespace Math;
 
   // Calculating the commanded speed in RPM for every reaction wheel
@@ -45,6 +45,13 @@ void ActuatorCmd::cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t spee
     deltaSpeedInt[i] = std::round(deltaSpeed[i]);
   }
   VectorOperations<int32_t>::add(speedRws, deltaSpeedInt, rwCmdSpeed, 4);
+  for (uint8_t i = 0; i < 4; i++) {
+    if (rwCmdSpeed[i] > maxRwSpeed) {
+      rwCmdSpeed[i] = maxRwSpeed;
+    } else if (rwCmdSpeed[i] < -maxRwSpeed) {
+      rwCmdSpeed[i] = -maxRwSpeed;
+    }
+  }
   VectorOperations<int32_t>::mulScalar(rwCmdSpeed, 10, rwCmdSpeed, 4);
 }
 
diff --git a/mission/controller/acs/ActuatorCmd.h b/mission/controller/acs/ActuatorCmd.h
index def3c1b6..269e0191 100644
--- a/mission/controller/acs/ActuatorCmd.h
+++ b/mission/controller/acs/ActuatorCmd.h
@@ -29,7 +29,7 @@ class ActuatorCmd {
    */
   void cmdSpeedToRws(int32_t speedRw0, int32_t speedRw1, int32_t speedRw2, int32_t speedRw3,
                      const double *rwTorque, int32_t *rwCmdSpeed, double sampleTime,
-                     double inertiaWheel);
+                     int32_t maxRwSpeed, double inertiaWheel);
 
   /*
    * @brief:	cmdDipolMtq()		gives the commanded dipol moment for the magnetorques