diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index dec7e47105..e8dc58341c 100644
--- a/conf/airframes/CDW/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -90,9 +90,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.4"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
index 3831d918d2..3552da62fb 100644
--- a/conf/airframes/CDW/ChimuTinyFw.xml
+++ b/conf/airframes/CDW/ChimuTinyFw.xml
@@ -116,9 +116,9 @@
     <define name="COURSE_DGAIN" value="0.3"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="0"/>
diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml
index 43e48e551d..2f301e204c 100644
--- a/conf/airframes/CDW/ChimuTinyFwSpi.xml
+++ b/conf/airframes/CDW/ChimuTinyFwSpi.xml
@@ -116,9 +116,9 @@
     <define name="COURSE_DGAIN" value="0.3"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 3199fdc038..c281de4dc1 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -177,9 +177,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-14255.3193359"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 590d0f132c..40ed286e60 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -171,9 +171,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 35a81064d0..c37c57e674 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -191,9 +191,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 0b3075f4fe..1b8c04bc0d 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -191,9 +191,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 3c3c1a60ad..7994869e47 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -168,9 +168,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.699999988079"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
     <define name="ROLL_RATE_GAIN" value="-1000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 8cf168b61f..aff770ec3b 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -152,9 +152,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
     <define name="ROLL_RATE_GAIN" value="-2900"/>
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index f4eebf8834..98be9ac59d 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -157,9 +157,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="12000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index f77fb115e8..32e8f287d7 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -159,9 +159,9 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0340000391"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index 73459dc2fe..553372fdd2 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -144,9 +144,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.20599997044"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-14814.8154297"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
index 5a402af5ed..f85500fd6a 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
@@ -141,9 +141,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-50000"/>
     <define name="PITCH_DGAIN" value="0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
index 46d368aea6..cc0603800f 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
@@ -146,9 +146,9 @@
     <define name="COURSE_PGAIN" value="-2.6"/>
     <define name="COURSE_DGAIN" value="1"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-9000."/>
     <define name="PITCH_DGAIN" value="0."/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index dbec277f60..9b2ab2cd6b 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -146,9 +146,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.885999977589"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-14255.3193359"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index 81acfe63e3..bfb9f55cc2 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -148,9 +148,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.20599997044"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-7627.11914062"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml
index f376da0931..197e0d3785 100644
--- a/conf/airframes/ENAC/fixed-wing/overview.xml
+++ b/conf/airframes/ENAC/fixed-wing/overview.xml
@@ -146,9 +146,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
index ab7f242bbe..480d31de1c 100644
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml
@@ -137,9 +137,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="12000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
index b15b0e1aed..30477c3b21 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
@@ -149,9 +149,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.20599997044"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.805000007153" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-8200"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index 82723dad2d..8ca2f3ebe7 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -176,9 +176,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.20599997044"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
     <define name="ROLL_RATE_GAIN" value="-2400."/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 61d08efafb..631d75a1f0 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -179,9 +179,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.20599997044"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
     <define name="ROLL_RATE_GAIN" value="-2400."/>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 959a400c62..9795c36d5e 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -166,9 +166,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.995000004768"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-3553.89208984"/>
     <define name="ROLL_RATE_GAIN" value="0."/>
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 07c712d80f..655d81553d 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -192,9 +192,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.7"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.8" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_ATTITUDE_GAIN" value="-3800."/>
     <define name="ROLL_RATE_GAIN" value="-500."/>
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index 19bd277cb9..795c167978 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -167,9 +167,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index d9828c9bb3..d2804f4425 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -163,9 +163,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index 46bc09b2cf..4c3654119e 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -163,9 +163,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index 4e10892cf5..e99fd0e7a5 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -153,9 +153,9 @@
     <define name="COURSE_DGAIN" value="0.3"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index 44791bc811..dea0734de2 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -118,9 +118,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.10800004005"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-15184.5644531"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml
index 31abe3899d..b5a43f4909 100644
--- a/conf/airframes/Poine/funjet42.xml
+++ b/conf/airframes/Poine/funjet42.xml
@@ -142,9 +142,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index 9d5cd3c4e2..c2bf5e96c9 100644
--- a/conf/airframes/Poine/swift_1.xml
+++ b/conf/airframes/Poine/swift_1.xml
@@ -136,9 +136,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
index 96d2fce242..0d84e42706 100644
--- a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
+++ b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
@@ -117,9 +117,9 @@
     <define name="COURSE_DGAIN" value="0.3"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.9" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="0"/>
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index ffafe387ba..2d63128fd4 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -139,9 +139,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.54100000858"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="5000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 423a241873..130cee751b 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -175,9 +175,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.12900002003"/>
     <define name="COURSE_DGAIN" value="0.556999993324"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.916999995708" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="0."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index a778aeb5ff..bff9d3f837 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -151,9 +151,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.39999997616"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.703999996185" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index 0666e4fb0b..46d80a8a28 100644
--- a/conf/airframes/TU_Delft/Trip50A.xml
+++ b/conf/airframes/TU_Delft/Trip50A.xml
@@ -163,9 +163,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.5"/>	<!-- Heading outerloop: only P-gain -->
 
-    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="radians"/> <!-- Max Angles -->
-    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.75" unit="rad"/> <!-- Max Angles -->
+    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-7110.09179688"/>	<!-- Pitch Angle PD control -->
     <define name="PITCH_DGAIN" value="2."/>
diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml
index c57842c715..31edbb16c5 100644
--- a/conf/airframes/TU_Delft/skywalker.xml
+++ b/conf/airframes/TU_Delft/skywalker.xml
@@ -151,9 +151,9 @@
     <define name="COURSE_DGAIN" value="0.280999988317"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-15429.6865234"/>
     <define name="PITCH_DGAIN" value="7.73400020599"/>
diff --git a/conf/airframes/TU_Delft/skywalkerfiber.xml b/conf/airframes/TU_Delft/skywalkerfiber.xml
index 758f69c858..66b3f00bfb 100644
--- a/conf/airframes/TU_Delft/skywalkerfiber.xml
+++ b/conf/airframes/TU_Delft/skywalkerfiber.xml
@@ -279,9 +279,9 @@
     <define name="COURSE_DGAIN" value="0.280999988317"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1.0039999485"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.851999998093" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-15429.6865234"/>
     <define name="PITCH_DGAIN" value="7.73400020599"/>
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index 79caffb64d..927b9e7864 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -125,9 +125,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index 6c6b05f160..4a83c5bed9 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -118,9 +118,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index 9bbb174eab..47393874af 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -111,9 +111,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.10800004005"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-15184.5644531"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index f945e0853a..606c0d78d1 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -144,9 +144,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.85"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="12000."/>
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index fb56a7b534..d9f9421b92 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -156,9 +156,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/funjet_example.xml b/conf/airframes/funjet_example.xml
index af247be133..b8035a41c2 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -147,9 +147,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index 08aa9a53f5..1706dacc79 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -131,9 +131,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-10000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 19841bc2dc..ac9c757c64 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -126,9 +126,9 @@
     <define name="COURSE_PGAIN" value="-1.0"/>
     <define name="COURSE_DGAIN" value="0.3"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index 3073f74886..806437d823 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -136,9 +136,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index 01811ad4a0..5abe57d195 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -156,9 +156,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
index 9effbb7af9..d213fd0fdf 100644
--- a/conf/airframes/mm/extra/turbine_trigger.xml
+++ b/conf/airframes/mm/extra/turbine_trigger.xml
@@ -134,9 +134,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="-5500."/>
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 601e3fbfb1..ffea95dd84 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -175,9 +175,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0340000391"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index d3ae054528..1f57a90134 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -158,9 +158,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 57904e0b7a..a54d336b4d 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -169,9 +169,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index 726d92b8a4..3b9f7d933b 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -169,9 +169,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 375307d6d9..f1c911241d 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -169,9 +169,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index a65932583a..b2384676b2 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -132,9 +132,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.62" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.62" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index ab569e0540..d876f5451c 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -133,9 +133,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.49" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.49" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index bd39cefb89..91404a56a7 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -131,9 +131,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 6dd3339263..43550eff0d 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -130,9 +130,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index a0bac989c2..b2e8bbce45 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -130,9 +130,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index e6f10ef4eb..16f4785398 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -129,9 +129,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index 322b3ee9e1..c6fa31f313 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -128,9 +128,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.45"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.4" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="9000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index e7326bcfe3..5ee660d02e 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -128,9 +128,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="7600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index c2417140f0..f20fdd5a04 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -130,9 +130,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index ba7035b60e..6e8d4f1cc1 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -130,9 +130,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 2938facb71..6df28bd400 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -130,9 +130,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index 484ea47451..7a9da170de 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
@@ -164,9 +164,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 4a10711d40..54d5fb9704 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -130,9 +130,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml
index fa8fbb7ef4..1d5d5e5207 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisa.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml
@@ -143,9 +143,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml
index 6410f5625d..26b517755f 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisam.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisam.xml
@@ -143,9 +143,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index a83519cc58..bf03e24173 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -201,9 +201,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index 61b63da805..e6104ce2d9 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -136,9 +136,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index a49ab053c5..33ab31ed52 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -161,9 +161,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index 86edca5120..4a88b9f934 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -124,9 +124,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index 18705e7491..32463713cd 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -128,9 +128,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.62" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.62" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 3c8721be19..ded7a84c59 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -159,9 +159,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.80" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.80" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="10500."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index d4c4983651..07ac816402 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -175,9 +175,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.80" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.80" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="10500."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index 2449e4b47a..a77f98266f 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -153,9 +153,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index d7e6d06287..c41a331d0f 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -150,9 +150,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.85"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="8000."/>
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index 82b92dedd8..a562395676 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -139,9 +139,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="7000."/>
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index 3848eadc40..cebad5fa99 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -123,9 +123,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="7000."/>
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index 834100ad89..bdbed71f17 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -140,9 +140,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.63" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.63" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="7000."/>
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index 1dd11c946a..902db74760 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -142,9 +142,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.78"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="-2500."/>
diff --git a/conf/airframes/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index 63dae8793b..a2643bf735 100644
--- a/conf/airframes/mm/hangar/mac06a.xml
+++ b/conf/airframes/mm/hangar/mac06a.xml
@@ -135,7 +135,7 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="5000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index 2c074fcba9..67cb29d626 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -149,9 +149,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.4"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.65" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.65" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="8000."/>
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml
index 653b66330c..a8b52982c1 100644
--- a/conf/airframes/obsolete/hitl_usb.xml
+++ b/conf/airframes/obsolete/hitl_usb.xml
@@ -70,9 +70,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
 	<define name="COURSE_PGAIN" value="-1.10800004005"/>
 
-	<define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-	<define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-	<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+	<define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+	<define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+	<define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 	<define name="PITCH_PGAIN" value="-15184.5644531"/>
 	<define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
index bed7e4dce1..afa74d66b6 100644
--- a/conf/airframes/obsolete/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -140,9 +140,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-10000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index 5a7971bc76..14a24b04f1 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -137,9 +137,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-10000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 5e2287cacd..26b9c1676b 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -97,9 +97,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.4"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_ATTITUDE_GAIN" value="-1500"/>
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index 71f9184796..6bb0b8e3ac 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -135,9 +135,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.55"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="5000."/>
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index 1be67762ec..7e6e3bd5b1 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -139,9 +139,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.4"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index 913e68d99b..0fd88e336b 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -140,9 +140,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.25"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-9500."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 4697f6e2cc..4179706dd5 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -127,9 +127,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.4"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
index 28b71fef98..662874b7eb 100644
--- a/conf/airframes/obsolete/microjet_raw_makefile.xml
+++ b/conf/airframes/obsolete/microjet_raw_makefile.xml
@@ -142,9 +142,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-10000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml
index ca7a519a97..2d889922ae 100644
--- a/conf/airframes/obsolete/minimag1.xml
+++ b/conf/airframes/obsolete/minimag1.xml
@@ -129,9 +129,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="12000."/>
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
index 2f73162216..d34b11b7ce 100644
--- a/conf/airframes/obsolete/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -143,9 +143,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.4"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="6000."/>
diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
index fc0c478d96..809fa61a1b 100644
--- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
+++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
@@ -128,9 +128,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="10000."/>
diff --git a/conf/airframes/obsolete/osam_xsens_twog.xml b/conf/airframes/obsolete/osam_xsens_twog.xml
index 2a94fec263..4c573d4d2b 100644
--- a/conf/airframes/obsolete/osam_xsens_twog.xml
+++ b/conf/airframes/obsolete/osam_xsens_twog.xml
@@ -167,9 +167,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.296"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-4639.1"/>
     <define name="PITCH_DGAIN" value="0"/>
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index d44389ac6e..b6847a4d1e 100644
--- a/conf/airframes/obsolete/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -133,9 +133,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.88"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="10000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
index b6f57d2451..f8331333de 100644
--- a/conf/airframes/obsolete/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -133,9 +133,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.88"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="10000."/>
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index 2cec49a721..c2883754e0 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -123,9 +123,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.88"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index 784f96a463..fb77560d57 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -137,9 +137,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.3"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-10000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index 2705338724..02efc5d53a 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -131,9 +131,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.3"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-10000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index ed3b0b5b42..66d8d217bf 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -136,9 +136,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.499000012875"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-19703.390625"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index 108e8b940f..d1e147a265 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -125,9 +125,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.499000012875"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-19703.390625"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index aa4eb82ea4..4546155c7b 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -159,9 +159,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="7000"/>
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
index d18fb4a59b..706bbd7cbe 100644
--- a/conf/airframes/obsolete/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -128,9 +128,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.2"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="12000."/>
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml
index b784c66a5f..c6bfc2b01e 100644
--- a/conf/airframes/obsolete/tiny_hitl.xml
+++ b/conf/airframes/obsolete/tiny_hitl.xml
@@ -121,9 +121,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.10800004005"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-15184.5644531"/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index 8c2450f8d4..1c1ac25849 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -82,9 +82,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
index 94e676fbfb..ffc0e09080 100644
--- a/conf/airframes/obsolete/twinstar1.xml
+++ b/conf/airframes/obsolete/twinstar1.xml
@@ -84,9 +84,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.4"/>
     <define name="COURSE_PRE_BANK_CORRECTION" value="1."/>
-    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.73" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="10000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index 049cea6a4f..58cb0a82ce 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -147,9 +147,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.23"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.4" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
 
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
index 972d9e9809..2b7393579f 100644
--- a/conf/airframes/obsolete/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -142,9 +142,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.75"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.6" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.4" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.4" unit="rad"/>
 
 
     <define name="ROLL_PGAIN" value="13500."/>
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
index c3b11a5df8..8ab20eb739 100644
--- a/conf/airframes/test_hb.xml
+++ b/conf/airframes/test_hb.xml
@@ -166,9 +166,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="radians"/> <!-- 0.5 -->
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.70" unit="rad"/> <!-- 0.5 -->
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index b85661fb78..4abed81cd9 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -110,9 +110,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index 3d2ab37504..a3fdadd5fa 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -112,9 +112,9 @@
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.9"/>
 
-    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.53" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="PITCH_PGAIN" value="-6000."/>
     <define name="PITCH_DGAIN" value="0."/>
diff --git a/conf/airframes/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index 6d75ce1171..cf91db9734 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -165,9 +165,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-1.0"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.60" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="6000."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
diff --git a/conf/airframes/usb_test.xml b/conf/airframes/usb_test.xml
index 519b6dddc1..21fcd7e3f3 100644
--- a/conf/airframes/usb_test.xml
+++ b/conf/airframes/usb_test.xml
@@ -145,9 +145,9 @@
 
   <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
     <define name="COURSE_PGAIN" value="-0.8"/>
-    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="radians"/>
-    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
-    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
+    <define name="ROLL_MAX_SETPOINT" value="0.7" unit="rad"/>
+    <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
+    <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
     <define name="ROLL_PGAIN" value="7600."/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>