diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index c1682f0477..f43059ed84 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -261,7 +261,7 @@
    <define name="FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
    <define name="BoozDropPwm(_v)" value="BoozSetPwm0Value(_v)"/>
-   <define name="IMU_MAG_OFFSET" value="-9."/>
+   <define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/>
  </section>
 
   <section name="GCS">
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 345cdd9621..3c39bf048f 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -230,7 +230,7 @@
     <define name="BOOZ_ANALOG_BARO_THRESHOLD" value="800"/>
     <define name="FACE_REINJ_1"  value="1024"/>
     <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
-    <!--define name="IMU_MAG_OFFSET" value="-5.8"/-->
+    <!--define name="IMU_MAG_OFFSET" value="RadOfDeg(-5.8)"/-->
   </section>
 
   <section name="GCS">
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index a42bd6d411..b46c06207a 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -272,7 +272,7 @@
    <define name="FACE_REINJ_1"  value="1024"/>
    <define name="DEFAULT_CIRCLE_RADIUS" value="10."/>
    <define name="BoozDropPwm(_v)" value="BoozSetPwm1Value(_v)"/>
-   <define name="IMU_MAG_OFFSET" value="-9."/>
+   <define name="IMU_MAG_OFFSET" value="RadOfDeg(-9.)"/>
  </section>
 
   <section name="GCS">
diff --git a/sw/airborne/modules/vehicle_interface/vi_datalink.c b/sw/airborne/modules/vehicle_interface/vi_datalink.c
index 356776c65b..6df5e4f016 100644
--- a/sw/airborne/modules/vehicle_interface/vi_datalink.c
+++ b/sw/airborne/modules/vehicle_interface/vi_datalink.c
@@ -34,7 +34,7 @@ void vi_impl_set_enabled(bool_t enabled __attribute__ ((unused))) {
 
 #define ViMaxHSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_H_SPEED))
 #define ViMaxVSpeed ((int16_t)SPEED_BFP_OF_REAL(VI_MAX_V_SPEED))
-#define ViMaxHeadingRate ((int16_t)RATE_BFP_OF_REAL(RadOfDeg(VI_MAX_HEADING_RATE)))
+#define ViMaxHeadingRate ((int16_t)RATE_BFP_OF_REAL(VI_MAX_HEADING_RATE))
 
 struct Int16Vect3 wp_speed_max = { ViMaxHSpeed, ViMaxHSpeed, ViMaxVSpeed };
 
diff --git a/sw/airborne/modules/vehicle_interface/vi_datalink.h b/sw/airborne/modules/vehicle_interface/vi_datalink.h
index 20df4ab6c6..2a8af91347 100644
--- a/sw/airborne/modules/vehicle_interface/vi_datalink.h
+++ b/sw/airborne/modules/vehicle_interface/vi_datalink.h
@@ -37,7 +37,7 @@
 #endif
 
 #ifndef VI_MAX_HEADING_RATE
-#define VI_MAX_HEADING_RATE 60.
+#define VI_MAX_HEADING_RATE RadOfDeg(60.)
 #endif
 
 extern void vi_update_wp(uint8_t wp_id);
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
index b07c4a81c6..f6e89f24d4 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
@@ -261,7 +261,7 @@ __attribute__ ((always_inline)) static inline void get_psi_measurement_from_mag(
   //  sphi_ctheta * imu.mag.y +
   //  cphi_ctheta * imu.mag.z;
   float m_psi = -atan2(me, mn);
-  *psi_meas = ((m_psi - RadOfDeg(ahrs_mag_offset))*(float)(1<<(INT32_ANGLE_FRAC))*F_UPDATE);
+  *psi_meas = ((m_psi - ahrs_mag_offset)*(float)(1<<(INT32_ANGLE_FRAC))*F_UPDATE);
 
 }