From 1917c138f7aa2d1627e3dd73fdf80fc886916f2c Mon Sep 17 00:00:00 2001
From: PerFrivik <per.a.frivik@gmail.com>
Date: Mon, 5 Feb 2024 11:18:58 +0100
Subject: [PATCH] Bugfix removed conversion from rpm to rad s

---
 src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp
index a80286db62..2fed14dfe7 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceWheel.cpp
@@ -111,8 +111,7 @@ void GZMixingInterfaceWheel::wheelSpeedCallback(const gz::msgs::Actuators &actua
 	wheel_encoders_s wheel_encoders{};
 
 	for (int i = 0; i < actuators.velocity_size(); i++) {
-		// Convert from RPM to rad/s
-		wheel_encoders.wheel_speed[i] = (float)actuators.velocity(i) * (2.0f * M_PI_F / 60.0f);
+		wheel_encoders.wheel_speed[i] = (float)actuators.velocity(i);
 	}
 
 	if (actuators.velocity_size() > 0) {