diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index 2c5c260ea3..e48d3bd267 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <modules>
diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
index 6e7c5febe1..1f93d54548 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml
index 6ec91bc5ab..4095147ebf 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </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 ef946df9e1..dd9a81faa1 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
   </section>
 
   <!-- Gyro sensitivity : -->
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 8c9e1ef242..e637b51cd0 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
   </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 e1a1e34c91..42c3d51944 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2.)" unit="deg"/>
   </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 3d67d47d3c..2693d03086 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index 1f5e4a39ef..d53d3b17ff 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="rad" />
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad" />
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg" />
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg" />
   </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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
 
     <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 8ee6a628e5..43ab6f43d3 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </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 bb6c65b136..c2d96c56e8 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.38045096397)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(1.14591562748)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.38045096397)" unit="deg"/>
 
     <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 7595ae8a22..bcfb1746a2 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
 
     <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 9a0a624eb7..1ba5fa8cb8 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-9)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
 
     <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 0d0227169c..eebe325f76 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.42247962952)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3.49504256248)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.42247962952)" unit="deg"/>
 
     <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 be492cecd4..0cc4e9d929 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
 
     <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 12a454c348..edb8ae06a7 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
 
     <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 d7265c835c..91a8f3186e 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.15)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-1.146)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.15)" unit="deg"/>
 
     <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 143693d162..9262144cb4 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.6)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-2.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.6)" unit="deg"/>
 
     <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 bc58a30b5e..c418bae516 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-1.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="deg"/>
 
     <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 e059713df9..a7a12c95e9 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
 
     <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 a16721a02f..a5e370ee4f 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index 5869e1f1c3..239b8eeb32 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="deg"/>
 
     <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 d0ff2b6c85..d3f2fcf9b6 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index 0bae12741c..b95995394a 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 6de6804244..ed054642e8 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.0572957806289)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.114591561258)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.0572957806289)" unit="deg"/>
 
     <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 9d9bae153e..681291c9d6 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="rad"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-6.87549352646)" unit="deg"/>
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index 9a997d72da..bc19617cd2 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18.9649028778)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18.9649028778)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/TU_Delft/skywalkerfiber.xml b/conf/airframes/TU_Delft/skywalkerfiber.xml
index 6abedcb383..ae9e4b0a3b 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
   </section>
 
   <section name="MISC">
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index d75aaeb707..6a8f6f9eb6 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index 0077043330..60fbe18025 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT"  value="RadOfDeg(0.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
 
     <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 326da6e7ef..39f706f1db 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(18)" unit="deg"/>
 
     <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 540766d5dd..857418cbff 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
 
     <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 2ed2ab0ea9..edf7dfcb82 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
 
     <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 d25e883f61..628e12060f 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </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 5329a20157..17fef0bc82 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index af62bc189b..d5aa853a7f 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index 642775683b..c3900f64fc 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
 
     <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 a3b76da1e9..154794f91c 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4591560364)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4591560364)" unit="deg"/>
 
     <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 d4b902d16d..977d154b1a 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
 
     <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 6c771b0d7b..8cd783434b 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index 17336c30c5..989a98939a 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
index 269f26c1fc..fc41222c5f 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 77f4af1ef6..7678f3c2ff 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </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 abb424afc8..be4b92af35 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 4e72e90b09..c702183d85 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index 56e1ff899a..bc47d44b79 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 03d2772798..b048c2166f 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index 70220835d8..416ef73d29 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 767c0ac8ae..773e7593d0 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index 9c0dc03e19..1768dbda1c 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 2fcb872739..5387c779f1 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index f5495c269e..f855c51c85 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index 199c1410f9..8873787730 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index 737e02a86d..52b1d12471 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
     <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 17a8c45b53..2d03f35669 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index cbc6fa3e19..5556666f3b 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index cbe5b4b6e2..f1be4edc40 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index b8fd04d10e..4e630d655d 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index 0ec0f16bac..b762009294 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 1eb8a76a94..eeec025ab5 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml
index 2a3e2f7593..5ee95e12dd 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml
index a010bd138d..da0c1112a0 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index cbf7f880e2..65ed4e6dac 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index ceeb337bc8..723049243e 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </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 5612038315..3800847e74 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index 3a8ad9af66..1edd3ef73c 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index ec3fb804d5..aac74f357e 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.4)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.4)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index f9116ea54e..6f4b15f05c 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="deg"/>
   </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 f07c88d3b8..8b18ee2128 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.5)" unit="deg"/>
   </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 ed30168688..50e5cf040f 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index 8b845f8943..ace58e0e08 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
     <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 dfb9d96c82..dca53ac196 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="deg"/>
     <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 771359d936..75fd916556 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.7)" unit="deg"/>
     <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 a50eaa9cfa..2050e503f2 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
     <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 30213b157f..0f6638b031 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="GYRO" prefix="GYRO_">
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index 685853d585..7b6e5c3fa3 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
     <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 68797ba78e..0b1ef0bf30 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-10.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
     <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 a0866e6c2f..a90cd3de44 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
 
     <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 43b1961c18..4633379bf3 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="rad"/>
-	<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
+	<define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
+	<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
 
 	<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 e12a521819..7153a4afe9 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.3)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(-3)" unit="deg"/>
 
     <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 57277e89f0..2fb971afec 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
 
     <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 01d73d0f48..8b987b59a0 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
 
     <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 62ce97e536..64171a74f9 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
     <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 bd8ab7e9d9..5791cc3438 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(4.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
 
     <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 11fc984056..469c70d153 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
 
     <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 6244237142..3b1cf0c400 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1.2)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.5)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1.2)" unit="deg"/>
 
     <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 396429fa4e..1bc5db1a22 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.15)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
 
     <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 114fc6a112..41f706d212 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-3.6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
 
     <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 3573084413..4719c50ac1 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
 
     <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 5357a461a1..b210beab95 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-12)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9)" unit="deg"/>
 
     <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 d4e91975e2..32f11883bb 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="rad"/>
-<!--    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(8.6)" unit="rad"/>-->
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10.6)" unit="rad"/>
+    <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"/>
 
     <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 fbfddb05c1..9e35f0b1ac 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.73)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="deg"/>
 
     <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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.73)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(5.73)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index 003cac00e1..0e738cffd6 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
 
     <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 d9f8cf072a..f3676b91c7 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
     <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 2bd8fb8646..be95600d62 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(11.4)" unit="deg"/>
     <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 a6825d1f5f..a9ee1174ed 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-4)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
 
     <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 208dd7c9ae..c9180dee2d 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-7)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
 
     <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 a62213f76c..d0c07cd138 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6.47442293167)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="deg"/>
 
     <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 a3246ce6a0..d0f8f0ff8f 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6.47442293167)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12.261297226)" unit="deg"/>
 
     <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 c35f899019..217f5f63f9 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(4.2)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-17)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(4.2)" unit="deg"/>
     <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 573190a4c5..d02fcaef03 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(12)" unit="deg"/>
 
     <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 9b156ad954..85a7a85b1b 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0.)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(2)" unit="deg"/>
 
     <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 befb588bb1..785563b237 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
 
     <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 39530076d8..8356a46a35 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
     <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 ff65042c95..8c8262b9ed 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9.5)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-5.5)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(9.5)" unit="deg"/>
 
     <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 42148f1169..f7104d740d 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(-6)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(6)" unit="deg"/>
 
     <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 3ed714f177..b2a0423b23 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(3)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
 
     <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 f70b61665d..4204d3e0dc 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
 
     <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 337b28b3fe..86d1bcfb68 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(5)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(10)" unit="deg"/>
 
     <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 3be5398c53..89821a2120 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
   </section>
 
   <section name="BAT">
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
index 038d10e83c..3529a10147 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="rad"/>
-    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="rad"/>
+    <define name="ROLL_NEUTRAL_DEFAULT" value="RadOfDeg(0)" unit="deg"/>
+    <define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(1)" unit="deg"/>
   </section>
 
   <section name="BAT">