From 16524fffda4aa9909da28d6ea60f2ad70716e6c4 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Thu, 1 Dec 2011 16:05:24 +0100
Subject: [PATCH] use the new automatic conversion with unit="deg" to radians
 instead of RadOfDeg

---
 conf/airframes/ENAC/quadrotor/blender.xml     |  4 ++--
 conf/airframes/ENAC/quadrotor/booz2_g1.xml    |  4 ++--
 conf/airframes/ENAC/quadrotor/navgo.xml       |  4 ++--
 conf/airframes/TU_Delft/MicrojetBRimu.xml     |  4 ++--
 conf/airframes/easystar_ets_example.xml       | 10 +++++-----
 conf/airframes/easystar_example.xml           | 10 +++++-----
 conf/airframes/example_twog_analogimu.xml     |  4 ++--
 conf/airframes/flixr_discovery.xml            |  6 +++---
 conf/airframes/mentor_tum.xml                 |  6 +++---
 conf/airframes/obsolete/easystar2.xml         | 10 +++++-----
 conf/airframes/obsolete/kalscott_easystar.xml | 10 +++++-----
 11 files changed, 36 insertions(+), 36 deletions(-)

diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index f43059ed84..2c5f17e70f 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -246,8 +246,8 @@
     <define name="TILT_NEUTRAL" value="1500"/>
     <define name="TILT_MIN" value="1060"/>
     <define name="TILT_MAX" value="2250"/>
-    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
-    <define name="TILT_ANGLE_MAX" value="RadOfDeg(  0.)" unit="rad"/>
+    <define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
+    <define name="TILT_ANGLE_MAX" value="  0." unit="deg"/>
     <define name="PAN_NEUTRAL" value="0"/>
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 3c39bf048f..807a969000 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -212,8 +212,8 @@
     <define name="TILT_NEUTRAL" value="1500"/>
     <define name="TILT_MAX" value="1000"/>
     <define name="TILT_MIN" value="2300"/>
-    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
-    <define name="TILT_ANGLE_MAX" value="RadOfDeg( 10.)" unit="rad"/>
+    <define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
+    <define name="TILT_ANGLE_MAX" value=" 10." unit="deg"/>
     <define name="PAN_NEUTRAL" value="0"/>
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index b46c06207a..16ce6d34f7 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -257,8 +257,8 @@
     <define name="TILT_NEUTRAL" value="1500"/>
     <define name="TILT_MIN" value="1060"/>
     <define name="TILT_MAX" value="2250"/>
-    <define name="TILT_ANGLE_MIN" value="RadOfDeg(-90.)" unit="rad"/>
-    <define name="TILT_ANGLE_MAX" value="RadOfDeg(  0.)" unit="rad"/>
+    <define name="TILT_ANGLE_MIN" value="-90." unit="deg"/>
+    <define name="TILT_ANGLE_MAX" value="  0." unit="deg"/>
     <define name="PAN_NEUTRAL" value="0"/>
     <define name="PAN_MIN" value="0"/>
     <define name="PAN_MAX" value="25736"/> <!-- 360 deg (2^12) -->
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 681291c9d6..423a241873 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -103,8 +103,8 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6.18794441223)" unit="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-6.87549352646)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="6.18794441223" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="-6.87549352646" unit="deg"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 775ab6dec7..016f14cd20 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -143,9 +143,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
     <define name="PITCH_PGAIN" value="-20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
@@ -172,8 +172,8 @@
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
-    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
+    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
     <define name="HOME_RADIUS" value="90" unit="m"/>
   </section>
 
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index 58c5b0c2e6..ea1a5276c8 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -130,9 +130,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
     <define name="PITCH_PGAIN" value="-20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
@@ -159,8 +159,8 @@
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
-    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
+    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
     <define name="HOME_RADIUS" value="90" unit="m"/>
   </section>
 
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index 628e12060f..dd1f313fbe 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -82,8 +82,8 @@
   <!-- settings for the Analog IMU -->
 
   <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="0" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="0" unit="deg"/>
   </section>
 
   <!-- 3S LiPo with 1050mAh, connected to an 20A ESC -->
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 67f58b3f8e..0ee3f23791 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -306,9 +306,9 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- maybe handy to avoid over corner with lots of wind and small airframe -->
     <!-- <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(4)"/> -->
 
-    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(50)" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-30)" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="50" unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="35" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-30" unit="deg"/>
 
 
     <define name="ROLL_ATTITUDE_GAIN" value="-7500."/>
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index df5cd797f7..b2fb53780a 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -170,9 +170,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.1"/>
 
-    <define name="ROLL_MAX_SETPOINT"  value="RadOfDeg(50)" unit="rad"/>
-    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(30)" unit="rad"/>
-    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="rad"/>
+    <define name="ROLL_MAX_SETPOINT"  value="50" unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="30" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
 
     <define name="PITCH_PGAIN" value="-7000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index bc44601368..61af500564 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -131,9 +131,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
     <define name="PITCH_PGAIN" value="-20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
@@ -160,8 +160,8 @@
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
-    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
+    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
     <define name="HOME_RADIUS" value="90" unit="m"/>
   </section>
 
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index b56de424ca..74b0f40ec9 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -111,9 +111,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="RadOfDeg(35)" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="RadOfDeg(25)" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-25)" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="35" unit="deg"/>
+    <define name="PITCH_MAX_SETPOINT" value="25" unit="deg"/>
+    <define name="PITCH_MIN_SETPOINT" value="-25" unit="deg"/>
     <define name="PITCH_PGAIN" value="-20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
@@ -140,8 +140,8 @@
   <section name="FAILSAFE" prefix="FAILSAFE_">
     <define name="DELAY_WITHOUT_GPS" value="3" unit="s"/>
     <define name="DEFAULT_THROTTLE" value="0.4" unit="%"/>
-    <define name="DEFAULT_ROLL" value="RadOfDeg(15)" unit="rad"/>
-    <define name="DEFAULT_PITCH" value="RadOfDeg(0)" unit="rad"/>
+    <define name="DEFAULT_ROLL" value="15" unit="deg"/>
+    <define name="DEFAULT_PITCH" value="0" unit="deg"/>
     <define name="HOME_RADIUS" value="90" unit="m"/>
   </section>