diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index e48d3bd267..2c5c260ea3 100644
--- a/conf/airframes/CDW/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -130,8 +130,8 @@
   </section>
 
   <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <modules>
diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
index 1f93d54548..6e7c5febe1 100644
--- a/conf/airframes/CDW/ChimuTinyFw.xml
+++ b/conf/airframes/CDW/ChimuTinyFw.xml
@@ -58,8 +58,8 @@
   </command_laws>
 
   <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml
index 4095147ebf..6ec91bc5ab 100644
--- a/conf/airframes/CDW/ChimuTinyFwSpi.xml
+++ b/conf/airframes/CDW/ChimuTinyFwSpi.xml
@@ -58,8 +58,8 @@
   </command_laws>
 
   <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index dd9a81faa1..ef946df9e1 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -109,8 +109,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
   </section>
 
   <!-- Gyro sensitivity : -->
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index e637b51cd0..8c9e1ef242 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -116,8 +116,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 42c3d51944..e1a1e34c91 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -116,8 +116,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 2693d03086..3d67d47d3c 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -88,8 +88,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index d53d3b17ff..1f5e4a39ef 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -85,8 +85,8 @@
   </section>
 
   <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="RadOfDeg(0)" unit="rad" />
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad" />
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -100,8 +100,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index 43ab6f43d3..8ee6a628e5 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -92,8 +92,8 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index c2d96c56e8..bb6c65b136 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -66,8 +66,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(1.14591562748)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.38045096397)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(1.14591562748)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.38045096397)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
index bcfb1746a2..7595ae8a22 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
@@ -69,8 +69,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
index 1ba5fa8cb8..9a0a624eb7 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
@@ -70,8 +70,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="0.381000012159"/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-9)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-9)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.5"/>
     <define name="CORRECTION_DOWN" value="1.5"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index eebe325f76..0d0227169c 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -78,8 +78,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3.49504256248)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.42247962952)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3.49504256248)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.42247962952)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index 0cc4e9d929..be492cecd4 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -71,8 +71,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
index edb8ae06a7..12a454c348 100644
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml
@@ -72,8 +72,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 91a8f3186e..d7265c835c 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -101,8 +101,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-1.146)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.15)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-1.146)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.15)" unit="rad"/>
 
     <define name="I2C_DEFAULT_CONF" value="1"/>
   </section>
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index 9262144cb4..143693d162 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -97,8 +97,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-2.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-2.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.6)" unit="rad"/>
 
     <define name="HORIZ_SENSOR_TILTED" value="1"/>
     <define name="IR2_SIGN" value="1"/>
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index c418bae516..bc58a30b5e 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -93,8 +93,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-1.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-1.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="rad"/>
 
     <define name="HORIZ_SENSOR_TILTED" value="1"/>
     <define name="IR2_SIGN" value="-1"/>
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index a7a12c95e9..e059713df9 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -93,8 +93,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
 
     <define name="HORIZ_SENSOR_TILTED" value="1"/>
     <define name="IR2_SIGN" value="-1"/>
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index a5e370ee4f..a16721a02f 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -95,8 +95,8 @@
   </section>
 
   <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index 239b8eeb32..5869e1f1c3 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -65,8 +65,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="0.75"/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml
index d3f2fcf9b6..d0ff2b6c85 100644
--- a/conf/airframes/Poine/funjet42.xml
+++ b/conf/airframes/Poine/funjet42.xml
@@ -98,8 +98,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index b95995394a..0bae12741c 100644
--- a/conf/airframes/Poine/swift_1.xml
+++ b/conf/airframes/Poine/swift_1.xml
@@ -92,8 +92,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index ed054642e8..6de6804244 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -62,8 +62,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.114591561258)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.0572957806289)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.114591561258)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.0572957806289)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 681291c9d6..9d9bae153e 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -104,7 +104,7 @@
 
   <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="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-6.87549352646)" unit="rad"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index bc19617cd2..9a997d72da 100644
--- a/conf/airframes/TU_Delft/Trip50A.xml
+++ b/conf/airframes/TU_Delft/Trip50A.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18.9649028778)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18.9649028778)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/TU_Delft/skywalkerfiber.xml b/conf/airframes/TU_Delft/skywalkerfiber.xml
index ae9e4b0a3b..6abedcb383 100644
--- a/conf/airframes/TU_Delft/skywalkerfiber.xml
+++ b/conf/airframes/TU_Delft/skywalkerfiber.xml
@@ -227,8 +227,8 @@
   </section>
 
   <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="RadOfDeg(0.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
   </section>
 
   <section name="MISC">
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index 6a8f6f9eb6..d75aaeb707 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -81,8 +81,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index 60fbe18025..0077043330 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -68,8 +68,8 @@
     <define name="IR2_SIGN"             value="1"/>
     <define name="TOP_SIGN"             value="1"/>
 
-    <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="RadOfDeg(0.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
 
     <define name="CORRECTION_UP"    value="1."/>
     <define name="CORRECTION_DOWN"  value="1."/>
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 39f706f1db..326da6e7ef 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -58,8 +58,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="0.75"/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 857418cbff..540766d5dd 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -84,8 +84,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index edf7dfcb82..2ed2ab0ea9 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -77,8 +77,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index 628e12060f..d25e883f61 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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <!-- 3S LiPo with 1050mAh, connected to an 20A ESC -->
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index 17fef0bc82..5329a20157 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -107,8 +107,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index d5aa853a7f..af62bc189b 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -98,8 +98,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index c3900f64fc..642775683b 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -65,8 +65,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 154794f91c..a3b76da1e9 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -109,8 +109,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4591560364)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4591560364)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 977d154b1a..d4b902d16d 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -59,8 +59,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index 8cd783434b..6c771b0d7b 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -78,8 +78,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index 989a98939a..17336c30c5 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -100,8 +100,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
index fc41222c5f..269f26c1fc 100644
--- a/conf/airframes/mm/extra/turbine_trigger.xml
+++ b/conf/airframes/mm/extra/turbine_trigger.xml
@@ -91,8 +91,8 @@
     <define name="IR1_SIGN" value="1"/>
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 7678f3c2ff..77f4af1ef6 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -109,8 +109,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index be4b92af35..abb424afc8 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -94,8 +94,8 @@
   </section>
 
   <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="INFRARED" prefix="IR_">
@@ -112,8 +112,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index c702183d85..4e72e90b09 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -117,8 +117,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index bc47d44b79..56e1ff899a 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -117,8 +117,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index b048c2166f..03d2772798 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -117,8 +117,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index 416ef73d29..70220835d8 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 773e7593d0..767c0ac8ae 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index 1768dbda1c..9c0dc03e19 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 5387c779f1..2fcb872739 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -73,8 +73,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index f855c51c85..f5495c269e 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -73,8 +73,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index 8873787730..199c1410f9 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index 52b1d12471..737e02a86d 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -53,8 +53,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index 2d03f35669..17a8c45b53 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -73,8 +73,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index 5556666f3b..cbc6fa3e19 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index f1be4edc40..cbe5b4b6e2 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 4e630d655d..b8fd04d10e 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index b762009294..0ec0f16bac 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
@@ -113,8 +113,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index eeec025ab5..1eb8a76a94 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml
index 5ee95e12dd..2a3e2f7593 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisa.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml
@@ -99,8 +99,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml
index da0c1112a0..a010bd138d 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisam.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisam.xml
@@ -99,8 +99,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index 65ed4e6dac..cbf7f880e2 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -143,8 +143,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index 723049243e..ceeb337bc8 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -77,8 +77,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index 3800847e74..5612038315 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -103,8 +103,8 @@
   </section>
 
   <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index 1edd3ef73c..3a8ad9af66 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -72,8 +72,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index aac74f357e..ec3fb804d5 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -74,8 +74,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.4)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.4)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 6f4b15f05c..f9116ea54e 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -91,8 +91,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="rad"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 8b18ee2128..f07c88d3b8 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -97,8 +97,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="rad"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index 50e5cf040f..ed30168688 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -94,8 +94,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index ace58e0e08..8b845f8943 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -71,8 +71,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index dca53ac196..dfb9d96c82 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -58,8 +58,8 @@
     <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
     <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="TopOfIr" arity="1" coeff1="1"/>
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index 75fd916556..771359d936 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -52,8 +52,8 @@
     <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
     <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="TopOfIr" arity="1" coeff1="1"/>
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index 2050e503f2..a50eaa9cfa 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -59,8 +59,8 @@
     <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
     <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="TopOfIr" arity="1" coeff1="1"/>
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index 0f6638b031..30213b157f 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -75,8 +75,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index 7b6e5c3fa3..685853d585 100644
--- a/conf/airframes/mm/hangar/mac06a.xml
+++ b/conf/airframes/mm/hangar/mac06a.xml
@@ -57,8 +57,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index 0b1ef0bf30..68797ba78e 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -66,8 +66,8 @@
     <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="-0.7"/>
     <linear name="PitchOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-10.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-10.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="TopOfIr" arity="1" coeff1="1"/>
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index a90cd3de44..a0866e6c2f 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -72,8 +72,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml
index 4633379bf3..43b1961c18 100644
--- a/conf/airframes/obsolete/hitl_usb.xml
+++ b/conf/airframes/obsolete/hitl_usb.xml
@@ -15,8 +15,8 @@
 	<define name="LONGITUDINAL_CORRECTION" value="0.75"/>
 	<define name="VERTICAL_CORRECTION" value="1.5"/>
 
-	<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
-	<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
+	<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+	<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
 
 	<define name="CORRECTION_UP" value="1.0"/>
 	<define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index 7153a4afe9..e12a521819 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -59,8 +59,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
index 2fb971afec..57277e89f0 100644
--- a/conf/airframes/obsolete/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -69,8 +69,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index 8b987b59a0..01d73d0f48 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -68,8 +68,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 64171a74f9..62ce97e536 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -52,8 +52,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
     <linear name="RollOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
     <linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="-0.7"/>
     <linear name="TopOfIr" arity="1" coeff1="1"/>
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index 5791cc3438..bd8ab7e9d9 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -66,8 +66,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(4.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(4.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index 469c70d153..11fc984056 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -62,8 +62,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index 3b1cf0c400..6244237142 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -63,8 +63,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.5)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1.2)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.5)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1.2)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 1bc5db1a22..396429fa4e 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -63,8 +63,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.15)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.15)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
index 41f706d212..114fc6a112 100644
--- a/conf/airframes/obsolete/microjet_raw_makefile.xml
+++ b/conf/airframes/obsolete/microjet_raw_makefile.xml
@@ -73,8 +73,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml
index 4719c50ac1..3573084413 100644
--- a/conf/airframes/obsolete/minimag1.xml
+++ b/conf/airframes/obsolete/minimag1.xml
@@ -70,8 +70,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="-1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
index b210beab95..5357a461a1 100644
--- a/conf/airframes/obsolete/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -70,8 +70,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-12)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-12)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
index 32f11883bb..d4e91975e2 100644
--- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
+++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
@@ -57,9 +57,9 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-2.6)" unit="deg"/>
-<!--    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.6)" unit="deg"/>-->
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10.6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-2.6)" unit="rad"/>
+<!--    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.6)" unit="rad"/>-->
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10.6)" unit="rad"/>
 
     <linear name="RollOfIrs" arity="2" coeff1="0.7" coeff2="0.7"/>
     <linear name="PitchOfIrs" arity="2" coeff1="-0.7" coeff2="0.7"/>
diff --git a/conf/airframes/obsolete/osam_xsens_twog.xml b/conf/airframes/obsolete/osam_xsens_twog.xml
index 9e35f0b1ac..fbfddb05c1 100644
--- a/conf/airframes/obsolete/osam_xsens_twog.xml
+++ b/conf/airframes/obsolete/osam_xsens_twog.xml
@@ -109,8 +109,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1.16"/>
     <define name="VERTICAL_CORRECTION" value="1.0"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.73)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.73)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
@@ -119,8 +119,8 @@
   </section>
 
   <section name="INS" prefix="INS_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.73)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.73)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index 0e738cffd6..003cac00e1 100644
--- a/conf/airframes/obsolete/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -57,8 +57,8 @@
     <define name="ADC_IR2_NEUTRAL" value="-16"/>
     <define name="ADC_TOP_NEUTRAL" value="533"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
 
     <linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
     <linear name="PitchOfIrs" arity="2" coeff1="-0.5" coeff2="0.5"/>
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
index f3676b91c7..d9f8cf072a 100644
--- a/conf/airframes/obsolete/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -51,8 +51,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
     <linear name="RollOfIrs" arity="2" coeff1=".5" coeff2="0.5"/>
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index be95600d62..2bd8fb8646 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -48,8 +48,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/> <!-- Contrast used prior to capture on models without z-sensor -->
     <define name="HORIZ_SENSOR_TILTED" value="1"/> <!-- "0" indicates x-y sensor is aligned with the fueslage, "1" indicates a 45 deg rotation -->
     <define name="IR1_SIGN" value="-1"/>
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index a9ee1174ed..a6825d1f5f 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -76,8 +76,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1.0"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-4)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-4)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index c9180dee2d..208dd7c9ae 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -70,8 +70,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1.0"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-7)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-7)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index d0c07cd138..a62213f76c 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -73,8 +73,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1.0039999485"/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6.47442293167)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6.47442293167)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index d0f8f0ff8f..a3246ce6a0 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -72,8 +72,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1.0039999485"/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6.47442293167)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6.47442293167)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index 217f5f63f9..c35f899019 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -60,8 +60,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-17)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(4.2)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-17)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(4.2)" unit="rad"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
     <define name="RAD_OF_IR_CONTRAST" value="0.75"/>
 
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
index d02fcaef03..573190a4c5 100644
--- a/conf/airframes/obsolete/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -70,8 +70,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml
index 85a7a85b1b..9b156ad954 100644
--- a/conf/airframes/obsolete/tiny_hitl.xml
+++ b/conf/airframes/obsolete/tiny_hitl.xml
@@ -65,8 +65,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="0.75"/>
     <define name="VERTICAL_CORRECTION" value="1.5"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1.0"/>
     <define name="CORRECTION_DOWN" value="1.0"/>
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index 785563b237..befb588bb1 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -58,8 +58,8 @@
     <define name="IR1_SIGN" value="1"/>
     <define name="IR2_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
 
     <define name="LATERAL_CORRECTION" value="1."/>
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
index 8356a46a35..39530076d8 100644
--- a/conf/airframes/obsolete/twinstar1.xml
+++ b/conf/airframes/obsolete/twinstar1.xml
@@ -48,8 +48,8 @@
   </section>
 
   <section name="INFRARED" prefix="IR_">
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
     <define name="ADC_ROLL_NEUTRAL" value="-1005"/>
     <define name="ADC_PITCH_NEUTRAL" value="75"/>
     <define name="DEFAULT_CONTRAST" value="200"/>
diff --git a/conf/airframes/obsolete/twinstar6.xml b/conf/airframes/obsolete/twinstar6.xml
index 8c8262b9ed..ff65042c95 100644
--- a/conf/airframes/obsolete/twinstar6.xml
+++ b/conf/airframes/obsolete/twinstar6.xml
@@ -80,8 +80,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.5)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9.5)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.5)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9.5)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index f7104d740d..42148f1169 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -76,8 +76,8 @@
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
     <define name="VERTICAL_CORRECTION" value="1."/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
 
     <define name="CORRECTION_UP" value="1."/>
     <define name="CORRECTION_DOWN" value="1."/>
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
index b2a0423b23..3ed714f177 100644
--- a/conf/airframes/obsolete/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -62,8 +62,8 @@
     <define name="ADC_IR2_NEUTRAL" value="512"/>
     <define name="ADC_TOP_NEUTRAL" value="512"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
 
     <define name="HORIZ_SENSOR_TILTED" value="1"/>
     <define name="IR1_SIGN" value="-1"/>
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index 4204d3e0dc..f70b61665d 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -88,8 +88,8 @@
     <define name="IR1_SIGN" value="1"/>
     <define name="IR2_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
 
     <define name="LATERAL_CORRECTION" value="1."/>
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index 86d1bcfb68..337b28b3fe 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -96,8 +96,8 @@
     <define name="IR1_SIGN" value="1"/>
     <define name="IR2_SIGN" value="-1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
 
     <define name="LATERAL_CORRECTION" value="1."/>
     <define name="LONGITUDINAL_CORRECTION" value="1."/>
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index 89821a2120..3be5398c53 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -112,8 +112,8 @@
     <define name="IR2_SIGN" value="-1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <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="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
index 3529a10147..038d10e83c 100644
--- a/conf/airframes/usb_test.xml
+++ b/conf/airframes/usb_test.xml
@@ -93,8 +93,8 @@
     <define name="IR2_SIGN" value="1"/>
     <define name="TOP_SIGN" value="1"/>
 
-    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="deg"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="rad"/>
   </section>
 
   <section name="BAT">