diff --git a/src/shared/algorithms/Follower/Follower.cpp b/src/shared/algorithms/Follower/Follower.cpp
index 6c9e71d281e415f2a7d637c283c303e12d7561c1..bc5b45f8ed2fba457d47079d8f7f2667619edd65 100644
--- a/src/shared/algorithms/Follower/Follower.cpp
+++ b/src/shared/algorithms/Follower/Follower.cpp
@@ -50,9 +50,8 @@ float minimizeRotation(float angle)
     return angle;
 }
 
-Follower::Follower(std::chrono::milliseconds updatePeriod)
-    : updatePeriod(static_cast<float>(updatePeriod.count()) / 1000),
-      targetAngles({0, 0, 0})
+Follower::Follower(std::chrono::milliseconds updPeriod)
+    : updatePeriod{updPeriod}, targetAngles({0, 0, 0})
 {
 }
 
@@ -168,9 +167,13 @@ void Follower::step()
 
     // Calculate angular velocity for moving the antennas toward position
     float horizontalSpeed =
-        std::abs((diffAngles.yaw * 1000) / (360 * updatePeriod));
+        std::abs((diffAngles.yaw) /
+                 (360 * (static_cast<float>(updatePeriod.count()) / 1000)));
+    TRACE("[Follower] horizontalSpeed is: %f\n", horizontalSpeed);
     float verticalSpeed =
-        std::abs((diffAngles.pitch * 1000) / (360 * updatePeriod));
+        std::abs((diffAngles.pitch) /
+                 (360 * (static_cast<float>(updatePeriod.count()) / 1000)));
+    TRACE("[Follower] Vertical speed is: %f\n", horizontalSpeed);
 
     // Update the state of the follower
     FollowerState newState;
diff --git a/src/shared/algorithms/Follower/Follower.h b/src/shared/algorithms/Follower/Follower.h
index 3a6fcda47b1208489d65e8c3429fb69f4a1c828b..850a63f90e8e1793d8c889d93aa07cf1c0813616 100644
--- a/src/shared/algorithms/Follower/Follower.h
+++ b/src/shared/algorithms/Follower/Follower.h
@@ -144,8 +144,8 @@ private:
      */
     Eigen::Vector3f getRocketNASOrigin();
 
-    // actuation update period [s]
-    float updatePeriod;
+    // actuation update period [ms]
+    std::chrono::milliseconds updatePeriod;
     // Initialization flag
     std::atomic<bool> isInit{false};