diff --git a/conf/airframes/CDW/debug_i2c.xml b/conf/airframes/CDW/debug_i2c.xml
index db334d1447..b867aed10e 100644
--- a/conf/airframes/CDW/debug_i2c.xml
+++ b/conf/airframes/CDW/debug_i2c.xml
@@ -61,9 +61,9 @@
     <define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
     <define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 135.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="135." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/blender.xml b/conf/airframes/ENAC/quadrotor/blender.xml
index 2c5f17e70f..16ab085488 100644
--- a/conf/airframes/ENAC/quadrotor/blender.xml
+++ b/conf/airframes/ENAC/quadrotor/blender.xml
@@ -130,10 +130,10 @@
     <define name="MAG_Y_SENS" value="5.43740121157" integer="16"/>
     <define name="MAG_Z_SENS" value="2.60492836649" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <!--define name="BODY_TO_IMU_PSI"   value="RadOfDeg(45.)"/-->
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <!--define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/-->
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/booz2_g1.xml b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
index 807a969000..1fe5edaca9 100644
--- a/conf/airframes/ENAC/quadrotor/booz2_g1.xml
+++ b/conf/airframes/ENAC/quadrotor/booz2_g1.xml
@@ -94,9 +94,9 @@
     <define name="MAG_Y_SENS" value="21.79885" integer="16"/>
     <define name="MAG_Z_SENS" value="14.675745" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(1.3)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-2.6)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="1.3" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="-2.6" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/g1_vision.xml b/conf/airframes/ENAC/quadrotor/g1_vision.xml
index 521d7c87ce..5151b97c52 100644
--- a/conf/airframes/ENAC/quadrotor/g1_vision.xml
+++ b/conf/airframes/ENAC/quadrotor/g1_vision.xml
@@ -67,9 +67,9 @@
     <define name="MAG_Y_SENS" value="21.79885" integer="16"/>
     <define name="MAG_Z_SENS" value="14.675745" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(1.3)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-2.6)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="1.3" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="-2.6" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
index 03f539783f..92521b15e9 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1-vision.xml
@@ -87,9 +87,9 @@
     <define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
     <define name="MAG_Z_SENS" value="-14.675745" integer="16"/-->
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/mkk1.xml b/conf/airframes/ENAC/quadrotor/mkk1.xml
index ee3afbe1c7..3a6b884996 100644
--- a/conf/airframes/ENAC/quadrotor/mkk1.xml
+++ b/conf/airframes/ENAC/quadrotor/mkk1.xml
@@ -117,9 +117,9 @@
     <define name="MAG_Y_SENS" value="-21.79885" integer="16"/>
     <define name="MAG_Z_SENS" value="-14.675745" integer="16"/-->
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/navgo.xml b/conf/airframes/ENAC/quadrotor/navgo.xml
index 16ce6d34f7..1c1dd325ab 100644
--- a/conf/airframes/ENAC/quadrotor/navgo.xml
+++ b/conf/airframes/ENAC/quadrotor/navgo.xml
@@ -99,9 +99,9 @@
     <define name="MAG_Y_SENS" value="4.8961742578" integer="16"/>
     <define name="MAG_Z_SENS" value="5.31527656902" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/> <!-- -10 -->
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/> <!-- -10 -->
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/> <!-- -10 -->
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/> <!-- -10 -->
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
@@ -133,9 +133,9 @@
     <define name="MAG_Y_SENS" value="4.49687342915" integer="16"/>
     <define name="MAG_Z_SENS" value="4.93138019221" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(-10.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-10.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="-10." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="-10." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/ENAC/quadrotor/nova1.xml b/conf/airframes/ENAC/quadrotor/nova1.xml
index a3a05aadf2..c8597c6588 100644
--- a/conf/airframes/ENAC/quadrotor/nova1.xml
+++ b/conf/airframes/ENAC/quadrotor/nova1.xml
@@ -88,9 +88,9 @@
     <define name="MAG_Y_SENS" value="6.95371185551" integer="16"/>
     <define name="MAG_Z_SENS" value="3.12322557454" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-135.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-135." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
index e4a4e36889..ba05f5ed66 100644
--- a/conf/airframes/NoVa_L.xml
+++ b/conf/airframes/NoVa_L.xml
@@ -81,9 +81,9 @@
    <define name="MAG_Y_CHAN" value="0"/>
     <define name="MAG_Z_CHAN" value="2"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  4.5)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  6.8)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  -45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="4.5" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="6.8" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-45." unit="deg"/>
 
     <define name="GYRO_P_CHAN" value="0"/>
     <define name="GYRO_Q_CHAN" value="4"/>
diff --git a/conf/airframes/Poine/beth.xml b/conf/airframes/Poine/beth.xml
index 38269d5b50..89f4ac6a39 100644
--- a/conf/airframes/Poine/beth.xml
+++ b/conf/airframes/Poine/beth.xml
@@ -67,9 +67,9 @@
     <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
 
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/>
 
 <!--  3  -->
     <define name="GYRO_P_CHAN" value="0"/>
diff --git a/conf/airframes/Poine/booz2_a1.xml b/conf/airframes/Poine/booz2_a1.xml
index 30358596c0..5bf362fe9e 100644
--- a/conf/airframes/Poine/booz2_a1.xml
+++ b/conf/airframes/Poine/booz2_a1.xml
@@ -73,13 +73,13 @@
     <define name="MAG_X_SENS" value=" 3.4936416" integer="16"/>
     <define name="MAG_Y_SENS" value=" 3.607713"  integer="16"/>
 
-   <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(4.)"/>
-   <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
-   <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+   <define name="BODY_TO_IMU_PHI"   value="4." unit="deg"/>
+   <define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
+   <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 <!--
-   <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-   <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-   <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+   <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+   <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+   <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 -->
 
   </section>
diff --git a/conf/airframes/Poine/booz2_a1p.xml b/conf/airframes/Poine/booz2_a1p.xml
index 4dc659aa53..fc85356f46 100644
--- a/conf/airframes/Poine/booz2_a1p.xml
+++ b/conf/airframes/Poine/booz2_a1p.xml
@@ -76,9 +76,9 @@
 <!--    <define name="MAG_X_SENS" value="-3.4936416" integer="16"/> -->
 <!--    <define name="MAG_Y_SENS" value=" 3.607713"  integer="16"/> -->
 
-   <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(4.)"/>
-   <define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.)"/>
-   <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+   <define name="BODY_TO_IMU_PHI"   value="4." unit="deg"/>
+   <define name="BODY_TO_IMU_THETA" value="3." unit="deg"/>
+   <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a7.xml b/conf/airframes/Poine/booz2_a7.xml
index 895ac7e33b..338dba0d2a 100644
--- a/conf/airframes/Poine/booz2_a7.xml
+++ b/conf/airframes/Poine/booz2_a7.xml
@@ -61,9 +61,9 @@
     <define name="MAG_Y_SENS" value="4.884119848" integer="16"/>
     <define name="MAG_Z_SENS" value="2.59926404993" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 135.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="135." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/Poine/booz2_a8.xml b/conf/airframes/Poine/booz2_a8.xml
index c98fbb24cb..088b1421f1 100644
--- a/conf/airframes/Poine/booz2_a8.xml
+++ b/conf/airframes/Poine/booz2_a8.xml
@@ -74,9 +74,9 @@
     <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
 
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/>
 
     <define name="GYRO_P_CHAN" value="0"/>
     <define name="GYRO_Q_CHAN" value="4"/>
@@ -118,9 +118,9 @@
     <define name="MAG_Y_NEUTRAL" value=" 49"/>
     <define name="MAG_Z_NEUTRAL" value="-66"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/>
 
   </section>
 -->
@@ -167,9 +167,9 @@
     <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
 
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/>
 
     <define name="GYRO_P_CHAN" value="0"/>
     <define name="GYRO_Q_CHAN" value="4"/>
diff --git a/conf/airframes/Poine/h_hex.xml b/conf/airframes/Poine/h_hex.xml
index 44d7782f14..13c0b63b30 100644
--- a/conf/airframes/Poine/h_hex.xml
+++ b/conf/airframes/Poine/h_hex.xml
@@ -63,9 +63,9 @@
     <define name="MAG_Y_NEUTRAL" value=" 49"/>
     <define name="MAG_Z_NEUTRAL" value="-66"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 90.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="90." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/UofAdelaide/A1000_BOOZ.xml b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
index 1a5c088e1c..918be89a27 100644
--- a/conf/airframes/UofAdelaide/A1000_BOOZ.xml
+++ b/conf/airframes/UofAdelaide/A1000_BOOZ.xml
@@ -132,9 +132,9 @@ second attempt
 
 	<define name="MAG_45_HACK" value="1"/>
 -->
-	<define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 2.9 )"/> <!-- previously 1.5-->
-	<define name="BODY_TO_IMU_THETA" value="RadOfDeg( -3.7 )"/> <!-- previously -1.5-->
-	<define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 0. )"/>
+	<define name="BODY_TO_IMU_PHI"   value="2.9 " unit="deg"/> <!-- previously 1.5-->
+	<define name="BODY_TO_IMU_THETA" value="-3.7 " unit="deg"/> <!-- previously -1.5-->
+	<define name="BODY_TO_IMU_PSI"   value="0. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/UofAdelaide/A1000_LISA.xml b/conf/airframes/UofAdelaide/A1000_LISA.xml
index f48128a609..47eeb18d9e 100644
--- a/conf/airframes/UofAdelaide/A1000_LISA.xml
+++ b/conf/airframes/UofAdelaide/A1000_LISA.xml
@@ -61,9 +61,9 @@
 <define name="MAG_Y_SENS" value="4.13471628028" integer="16"/>
 <define name="MAG_Z_SENS" value="2.07762920804" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0.53 )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   -1.24 )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 0)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0.53 " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="-1.24 " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0" unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/UofAdelaide/A1000_NOVA.xml b/conf/airframes/UofAdelaide/A1000_NOVA.xml
index bcef6ccc71..b346df02ab 100644
--- a/conf/airframes/UofAdelaide/A1000_NOVA.xml
+++ b/conf/airframes/UofAdelaide/A1000_NOVA.xml
@@ -62,9 +62,9 @@
 	<define name="MAG_Z_SENS" value=" 2.98000294999" integer="16"/>
 
 
-	<define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-	<define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-	<define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-90.)"/>
+	<define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+	<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+	<define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
index e00eac3141..ba3683896a 100644
--- a/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_NoVa_001_1000.xml
@@ -62,9 +62,9 @@
     <define name="MAG_Z_SENS" value=" 2.98000294999" integer="16"/>
 
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-90.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/UofAdelaide/booz2_a1000.xml b/conf/airframes/UofAdelaide/booz2_a1000.xml
index 3ea1b957b4..f7739efceb 100755
--- a/conf/airframes/UofAdelaide/booz2_a1000.xml
+++ b/conf/airframes/UofAdelaide/booz2_a1000.xml
@@ -131,9 +131,9 @@ second attempt
 
     <define name="MAG_45_HACK" value="1"/>
 -->
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 2.9 )"/> <!-- previously 1.5-->
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg( -3.7 )"/> <!-- previously -1.5-->
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 0. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="2.9 " unit="deg"/> <!-- previously 1.5-->
+    <define name="BODY_TO_IMU_THETA" value="-3.7 " unit="deg"/> <!-- previously -1.5-->
+    <define name="BODY_TO_IMU_PSI"   value="0. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/UofAdelaide/lisa_a1000.xml b/conf/airframes/UofAdelaide/lisa_a1000.xml
index bf9899187e..d91a0236dc 100644
--- a/conf/airframes/UofAdelaide/lisa_a1000.xml
+++ b/conf/airframes/UofAdelaide/lisa_a1000.xml
@@ -58,9 +58,9 @@
     <define name="MAG_Y_NEUTRAL" value=" 49"/>
     <define name="MAG_Z_NEUTRAL" value="-66"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/booz2_flixr.xml b/conf/airframes/booz2_flixr.xml
index f21e10ec05..6b5a9ad0d2 100644
--- a/conf/airframes/booz2_flixr.xml
+++ b/conf/airframes/booz2_flixr.xml
@@ -103,9 +103,9 @@
     <define name="MAG_Y_NEUTRAL" value="1944"/>
     <define name="MAG_Z_NEUTRAL" value="2099"/>
 
-    <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
-    <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg" />
   </section>
 
   <section name="AHRS" prefix="AHRS_">
diff --git a/conf/airframes/booz2_ppzuav.xml b/conf/airframes/booz2_ppzuav.xml
index 2078e7e7de..a8e98aba74 100644
--- a/conf/airframes/booz2_ppzuav.xml
+++ b/conf/airframes/booz2_ppzuav.xml
@@ -47,9 +47,9 @@
     <define name="MAG_Y_NEUTRAL" value="5"/>
     <define name="MAG_Z_NEUTRAL" value="192"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/esden/jt_lisam.xml b/conf/airframes/esden/jt_lisam.xml
index 2634c9c3f1..63465013d7 100644
--- a/conf/airframes/esden/jt_lisam.xml
+++ b/conf/airframes/esden/jt_lisam.xml
@@ -51,9 +51,9 @@
 
   <section name="IMU" prefix="IMU_">
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 180. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(   0. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="180. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/esden/lisa_asctec.xml b/conf/airframes/esden/lisa_asctec.xml
index 50c0a66790..4f209e5586 100644
--- a/conf/airframes/esden/lisa_asctec.xml
+++ b/conf/airframes/esden/lisa_asctec.xml
@@ -68,9 +68,9 @@
     <define name="MAG_XZ_SENS" value="0.0" integer="16"/>
     <define name="MAG_YZ_SENS" value="0.0" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/esden/lisa_asctec_aspirin.xml b/conf/airframes/esden/lisa_asctec_aspirin.xml
index 66ff357bd1..497b61b7aa 100644
--- a/conf/airframes/esden/lisa_asctec_aspirin.xml
+++ b/conf/airframes/esden/lisa_asctec_aspirin.xml
@@ -68,9 +68,9 @@
     <define name="MAG_XZ_SENS" value="0.0" integer="16"/>
     <define name="MAG_YZ_SENS" value="0.0" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/esden/lisa_m_pwm.xml b/conf/airframes/esden/lisa_m_pwm.xml
index 57a8443969..314e6523c2 100644
--- a/conf/airframes/esden/lisa_m_pwm.xml
+++ b/conf/airframes/esden/lisa_m_pwm.xml
@@ -82,9 +82,9 @@
     <define name="MAG_XZ_SENS" value="0.0" integer="16"/>
     <define name="MAG_YZ_SENS" value="0.0" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/esden/lisa_pwm_aspirin.xml b/conf/airframes/esden/lisa_pwm_aspirin.xml
index 2a6bea0249..d56379cec8 100644
--- a/conf/airframes/esden/lisa_pwm_aspirin.xml
+++ b/conf/airframes/esden/lisa_pwm_aspirin.xml
@@ -56,9 +56,9 @@
 
   <section name="IMU" prefix="IMU_">
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 225. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="225. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/esden/synerani_4B.xml b/conf/airframes/esden/synerani_4B.xml
index acf1337d7d..75ec392666 100644
--- a/conf/airframes/esden/synerani_4B.xml
+++ b/conf/airframes/esden/synerani_4B.xml
@@ -59,9 +59,9 @@
 
   <section name="IMU" prefix="IMU_">
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 180. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  90. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(   0. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="180. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="90. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index dd1f313fbe..f945e0853a 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -69,9 +69,9 @@
     <define name="MAG_Y_NEUTRAL" value="512"/>
     <define name="MAG_Z_NEUTRAL" value="512"/>
 
-    <define name="BODY_TO_IMU_PHI" value="RadOfDeg(0.)" />
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)" />
-    <define name="BODY_TO_IMU_PSI" value="RadOfDeg(0.)" />
+    <define name="BODY_TO_IMU_PHI" value="0." unit="deg" />
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg" />
+    <define name="BODY_TO_IMU_PSI" value="0." unit="deg" />
   </section>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/conf/airframes/mm/rotor/qmk1.xml b/conf/airframes/mm/rotor/qmk1.xml
index c414b3214b..279fafbe0b 100644
--- a/conf/airframes/mm/rotor/qmk1.xml
+++ b/conf/airframes/mm/rotor/qmk1.xml
@@ -68,9 +68,9 @@
     <define name="MAG_Y_SENS" value="4.86013203775" integer="16"/>
     <define name="MAG_Z_SENS" value="2.5947951512" integer="16"/>
 -->
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(   0. )"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0. " unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="45." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_NoVa_001.xml b/conf/airframes/obsolete/booz2_NoVa_001.xml
index 99f676ffc5..a33a197b0b 100644
--- a/conf/airframes/obsolete/booz2_NoVa_001.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_001.xml
@@ -62,9 +62,9 @@
     <define name="MAG_Z_SENS" value="-2.98000294999" integer="16"/>
 
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-90.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_NoVa_002.xml b/conf/airframes/obsolete/booz2_NoVa_002.xml
index 2b74d58c71..f65d717729 100644
--- a/conf/airframes/obsolete/booz2_NoVa_002.xml
+++ b/conf/airframes/obsolete/booz2_NoVa_002.xml
@@ -61,9 +61,9 @@
     <define name="MAG_Y_NEUTRAL" value="20"/>
     <define name="MAG_Z_NEUTRAL" value="-30"/>
 
-   <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-90.)"/>
+   <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-90." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_a2.xml b/conf/airframes/obsolete/booz2_a2.xml
index 2f7880f34f..78130f4f9b 100644
--- a/conf/airframes/obsolete/booz2_a2.xml
+++ b/conf/airframes/obsolete/booz2_a2.xml
@@ -65,9 +65,9 @@
     <define name="MAG_Y_SENS" value="-4.2959321" integer="16"/>
     <define name="MAG_Z_SENS" value="-4.0988408" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 1.5)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(-1.5)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 0. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="1.5" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="-1.5" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_a3.xml b/conf/airframes/obsolete/booz2_a3.xml
index 78cb488fba..4735cd7e7d 100644
--- a/conf/airframes/obsolete/booz2_a3.xml
+++ b/conf/airframes/obsolete/booz2_a3.xml
@@ -52,9 +52,9 @@
     <define name="MAG_Y_SENS" value="20." integer="16"/>
     <define name="MAG_Z_SENS" value="15." integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 14.5)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg( -8.5)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-45. )"/>
+    <define name="BODY_TO_IMU_PHI"   value="14.5" unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="-8.5" unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-45. " unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_a4.xml b/conf/airframes/obsolete/booz2_a4.xml
index 15709b8d41..8d1a6b0822 100644
--- a/conf/airframes/obsolete/booz2_a4.xml
+++ b/conf/airframes/obsolete/booz2_a4.xml
@@ -54,9 +54,9 @@
     <define name="MAG_X_SENS" value="-3.03386034" integer="16"/>
     <define name="MAG_Y_SENS" value=" 4.99085017" integer="16"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg( 0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg( 0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg( 0.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
 
   </section>
 
diff --git a/conf/airframes/obsolete/booz2_a5.xml b/conf/airframes/obsolete/booz2_a5.xml
index a6f8e49841..33fefb36bd 100644
--- a/conf/airframes/obsolete/booz2_a5.xml
+++ b/conf/airframes/obsolete/booz2_a5.xml
@@ -75,9 +75,9 @@
     <define name="MAG_Y_NEUTRAL" value="24"/>
     <define name="MAG_Z_NEUTRAL" value="28"/>
 
-    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  0.)"/>
-    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(-45.)"/>
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="-45." unit="deg"/>
 
   </section>