diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index e01229eb58..5af49f37cd 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -95,23 +95,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!--  gaui props
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 3acf32a90e..86264e5cef 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -154,23 +154,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(90.)"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index d400dc08f5..97435e4f7e 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -117,23 +117,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(90.)"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/ENAC/quadrotor/g1_vision.xml
index 4ec865dbc2..52fe0d23e6 100644
--- a/conf/airframes/ENAC/quadrotor/g1_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/g1_vision.xml
@@ -90,23 +90,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(90.)"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
index 33d6be3a4e..9054898f6d 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
@@ -123,23 +123,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.9"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.9"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.9"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(90.)"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index 8aeb7d4960..6d65cf6da5 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -153,23 +153,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.9"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.9"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.9"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(90.)"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index 440f41550a..8bdadb84de 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -170,23 +170,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(90.)"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
index e1f592928b..9f295b9647 100644
--- a/conf/airframes/ENAC/quadrotor/nova1.xml
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -124,23 +124,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.9"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.9"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.9"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(90.)"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index 89e8057d86..6d03ffc20c 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -123,23 +123,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+    <define name="SP_MAX_R"       value="180." unit="deg/s"/><!-- Maximum speed in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!--  gaui props
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
index ca1c2969d0..8e8f29094a 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_asctec_example.xml
@@ -87,23 +87,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback gains for better endurance -->
diff --git a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
index 1c988e4acf..378aa2f8ea 100644
--- a/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
+++ b/conf/airframes/PPZUAV/quadrotor/ppzuav_booz2_mkk_example.xml
@@ -88,23 +88,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback gains for better endurance -->
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 11eca8e799..493d489ba4 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -102,23 +102,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.9"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.9"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.9"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/Poine/booz2_a1p.xml
index 3807250602..097c2993de 100644
--- a/conf/airframes/Poine/booz2_a1p.xml
+++ b/conf/airframes/Poine/booz2_a1p.xml
@@ -100,23 +100,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.9"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.9"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.9"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 395ff63587..13907eab02 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -95,23 +95,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!--  gaui props
diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
index 89ad84992f..41f0381cb8 100644
--- a/conf/airframes/Poine/h_hex.xml
+++ b/conf/airframes/Poine/h_hex.xml
@@ -97,23 +97,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index bb910496d3..18e1a7d0de 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -176,23 +176,23 @@ second attempt
 	<!-- setpoints -->
 	<define name="SP_MAX_PHI"     value="45." unit="deg"/>
 	<define name="SP_MAX_THETA"   value="45." unit="deg"/>
-	<define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+	<define name="SP_MAX_R"       value="90." unit="deg/s"/>
 	<define name="DEADBAND_R"     value="250"/>
 
 	 <!-- reference -->
-	<define name="REF_OMEGA_P"  value="RadOfDeg(500)"/> <!--originally 800-->
+	<define name="REF_OMEGA_P"  value="500" unit="deg/s"/> <!--originally 800-->
 	<define name="REF_ZETA_P"   value="0.85"/>
-	<define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+	<define name="REF_MAX_P"    value="300." unit="deg/s"/>
 	<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-	<define name="REF_OMEGA_Q"  value="RadOfDeg(500)"/> <!-- originally 800-->
+	<define name="REF_OMEGA_Q"  value="500" unit="deg/s"/> <!-- originally 800-->
 	<define name="REF_ZETA_Q"   value="0.85"/>
-	<define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+	<define name="REF_MAX_Q"    value="300." unit="deg/s"/>
 	<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-	<define name="REF_OMEGA_R"  value="RadOfDeg(700)"/> <!-- originally 500-->
+	<define name="REF_OMEGA_R"  value="700" unit="deg/s"/> <!-- originally 500-->
 	<define name="REF_ZETA_R"   value="0.85"/>
-	<define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+	<define name="REF_MAX_R"    value="180." unit="deg/s"/>
 	<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index 94a0c24c6a..056593ff0e 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -95,23 +95,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index 4792f55d89..041c669c91 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -98,23 +98,23 @@
 	<!-- setpoints -->
 	<define name="SP_MAX_PHI"     value="45." unit="deg"/>
 	<define name="SP_MAX_THETA"   value="45." unit="deg"/>
-	<define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+	<define name="SP_MAX_R"       value="180." unit="deg/s"/><!-- Maximum speed in deg/s-->
 	<define name="DEADBAND_R"     value="250"/>
 
 	 <!-- reference -->
-	<define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+	<define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
 	<define name="REF_ZETA_P"   value="0.85"/>
-	<define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+	<define name="REF_MAX_P"    value="300." unit="deg/s"/>
 	<define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-	<define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+	<define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
 	<define name="REF_ZETA_Q"   value="0.85"/>
-	<define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+	<define name="REF_MAX_Q"    value="300." unit="deg/s"/>
 	<define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-	<define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+	<define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
 	<define name="REF_ZETA_R"   value="0.85"/>
-	<define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+	<define name="REF_MAX_R"    value="180." unit="deg/s"/>
 	<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index 05e331f05c..83c35ed351 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -98,23 +98,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+    <define name="SP_MAX_R"       value="180." unit="deg/s"/><!-- Maximum speed in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index 13e98dfce2..ad6d34c00b 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -176,23 +176,23 @@ second attempt
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(500)"/> <!--originally 800-->
+    <define name="REF_OMEGA_P"  value="500" unit="deg/s"/> <!--originally 800-->
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(500)"/> <!-- originally 800-->
+    <define name="REF_OMEGA_Q"  value="500" unit="deg/s"/> <!-- originally 800-->
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(700)"/> <!-- originally 500-->
+    <define name="REF_OMEGA_R"  value="700" unit="deg/s"/> <!-- originally 500-->
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/UofAdelaide/lisa_a1000.xml b/conf/airframes/UofAdelaide/lisa_a1000.xml
index a7c584f32b..ac45acf0c9 100644
--- a/conf/airframes/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/UofAdelaide/lisa_a1000.xml
@@ -92,23 +92,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index ae44a0a74c..3084b95e34 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -146,23 +146,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI" value="45." unit="deg" />
     <define name="SP_MAX_THETA" value="45." unit="deg" />
-    <define name="SP_MAX_R" value="RadOfDeg(90.)" />
+    <define name="SP_MAX_R" value="90." unit="deg/s" />
     <define name="DEADBAND_R" value="250" />
 
     <!-- reference -->
-    <define name="REF_OMEGA_P" value="RadOfDeg(800)" />
+    <define name="REF_OMEGA_P" value="800" unit="deg/s" />
     <define name="REF_ZETA_P" value="0.9" />
-    <define name="REF_MAX_P" value="RadOfDeg(300.)" />
+    <define name="REF_MAX_P" value="300." unit="deg/s" />
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)" />
 
-    <define name="REF_OMEGA_Q" value="RadOfDeg(800)" />
+    <define name="REF_OMEGA_Q" value="800" unit="deg/s" />
     <define name="REF_ZETA_Q" value="0.9" />
-    <define name="REF_MAX_Q" value="RadOfDeg(300.)" />
+    <define name="REF_MAX_Q" value="300." unit="deg/s" />
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)" />
 
-    <define name="REF_OMEGA_R" value="RadOfDeg(500)" />
+    <define name="REF_OMEGA_R" value="500" unit="deg/s" />
     <define name="REF_ZETA_R" value="0.9" />
-    <define name="REF_MAX_R" value="RadOfDeg(180.)" />
+    <define name="REF_MAX_R" value="180." unit="deg/s" />
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)" />
 
     <!-- feedback -->
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 4c005da184..09f4cfc87c 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -83,23 +83,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+    <define name="SP_MAX_R"       value="180." unit="deg/s"/><!-- Maximum speed in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
index 37ccaf490c..8cf8f9f6cf 100644
--- a/conf/airframes/esden/jt_lisam.xml
+++ b/conf/airframes/esden/jt_lisam.xml
@@ -86,25 +86,25 @@
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
     <define name="SP_MAX_PSI"     value="RadOfDeg(45.)"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="SP_MAX_P"       value="RadOfDeg(90.)"/>
     <define name="DEADBAND_R"     value="250"/>
     <define name="DEADBAND_A"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_R"  value="RadOfDeg(600)"/>
+    <define name="REF_OMEGA_R"  value="600" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.90"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_R"    value="400." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.90"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(500.)"/>
+    <define name="REF_MAX_Q"    value="500." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_P"  value="RadOfDeg(600)"/>
+    <define name="REF_OMEGA_P"  value="600" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(220.)"/>
+    <define name="REF_MAX_P"    value="220." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index 8f266a1d4d..04e6bda40b 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -102,23 +102,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
index 8340e1b286..93c132ba2c 100644
--- a/conf/airframes/esden/lisa_asctec_aspirin.xml
+++ b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -102,23 +102,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
index 5ac9c101e2..df6372d0da 100644
--- a/conf/airframes/esden/lisa_m_pwm.xml
+++ b/conf/airframes/esden/lisa_m_pwm.xml
@@ -116,23 +116,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
index ae843489e2..d32481ed6e 100644
--- a/conf/airframes/esden/lisa_pwm_aspirin.xml
+++ b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -90,23 +90,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(600)"/>
+    <define name="REF_OMEGA_P"  value="600" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(600)"/>
+    <define name="REF_OMEGA_Q"  value="600" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
index 0c849c8279..a7f5068165 100644
--- a/conf/airframes/esden/synerani_4B.xml
+++ b/conf/airframes/esden/synerani_4B.xml
@@ -93,23 +93,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(600)"/>
+    <define name="REF_OMEGA_P"  value="600" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(600)"/>
+    <define name="REF_OMEGA_Q"  value="600" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(400.)"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index 50fb2cc814..6c4e607cf7 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -102,23 +102,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_Aron.xml b/conf/airframes/obsolete/booz2_Aron.xml
index 6fff024b4c..80af3ce202 100644
--- a/conf/airframes/obsolete/booz2_Aron.xml
+++ b/conf/airframes/obsolete/booz2_Aron.xml
@@ -94,23 +94,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(400)"/>
+    <define name="REF_OMEGA_P"  value="400" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(400)"/>
+    <define name="REF_OMEGA_Q"  value="400" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_NoVa.xml b/conf/airframes/obsolete/booz2_NoVa.xml
index 2fda6c1271..ac6f8776a9 100644
--- a/conf/airframes/obsolete/booz2_NoVa.xml
+++ b/conf/airframes/obsolete/booz2_NoVa.xml
@@ -98,23 +98,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+    <define name="SP_MAX_R"       value="180." unit="deg/s"/><!-- Maximum speed in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index 9f7e239e6c..affef839d5 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -98,23 +98,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+    <define name="SP_MAX_R"       value="180." unit="deg/s"/><!-- Maximum speed in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index b9bb9ab4c7..56e9ce3c34 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -98,23 +98,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+    <define name="SP_MAX_R"       value="180." unit="deg/s"/><!-- Maximum speed in deg/s-->
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
index f0ff99b619..95bb96b694 100644
--- a/conf/airframes/obsolete/booz2_a2.xml
+++ b/conf/airframes/obsolete/booz2_a2.xml
@@ -88,23 +88,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
index 0eeafba727..b16d1e39ae 100644
--- a/conf/airframes/obsolete/booz2_a3.xml
+++ b/conf/airframes/obsolete/booz2_a3.xml
@@ -75,23 +75,23 @@
    <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
index d4266bb775..9b4918ead3 100644
--- a/conf/airframes/obsolete/booz2_a5.xml
+++ b/conf/airframes/obsolete/booz2_a5.xml
@@ -98,23 +98,23 @@
     <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
     <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
     <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_s1.xml b/conf/airframes/obsolete/booz2_s1.xml
index 85c40ca724..106ad4cb11 100644
--- a/conf/airframes/obsolete/booz2_s1.xml
+++ b/conf/airframes/obsolete/booz2_s1.xml
@@ -90,23 +90,23 @@
    <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->
diff --git a/conf/airframes/obsolete/booz2_x1.xml b/conf/airframes/obsolete/booz2_x1.xml
index 549bda34fc..d24a301207 100644
--- a/conf/airframes/obsolete/booz2_x1.xml
+++ b/conf/airframes/obsolete/booz2_x1.xml
@@ -101,23 +101,23 @@
   <!-- setpoints -->
     <define name="SP_MAX_PHI"     value="45." unit="deg"/>
     <define name="SP_MAX_THETA"   value="45." unit="deg"/>
-    <define name="SP_MAX_R"       value="RadOfDeg(90.)"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
     <define name="DEADBAND_R"     value="250"/>
 
      <!-- reference -->
-    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_P"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_P"   value="0.85"/>
-    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
     <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_OMEGA_Q"  value="800" unit="deg/s"/>
     <define name="REF_ZETA_Q"   value="0.85"/>
-    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
     <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
 
-    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_OMEGA_R"  value="500" unit="deg/s"/>
     <define name="REF_ZETA_R"   value="0.85"/>
-    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
     <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
 
    <!-- feedback -->