diff --git a/src/xrt/auxiliary/math/m_api.h b/src/xrt/auxiliary/math/m_api.h
index 15939f223..10af976b4 100644
--- a/src/xrt/auxiliary/math/m_api.h
+++ b/src/xrt/auxiliary/math/m_api.h
@@ -18,6 +18,8 @@
 
 #include "xrt/xrt_defines.h"
 
+#include "math/m_mathinclude.h"
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -75,6 +77,25 @@ extern "C" {
  */
 #define CLAMP(X, A, B) (MIN(MAX((X), (A)), (B)))
 
+/*!
+ * Degrees to radians conversion.
+ *
+ * @ingroup aux_math
+ */
+// clang-format off
+// @todo: Remove the clang-format off/on when we move to a newer clang-format in CI.
+#define DEG_TO_RAD(DEG) ((DEG) * M_PI / 180.)
+// clang-format on
+
+/*!
+ * Radians to degrees conversion.
+ *
+ * @ingroup aux_math
+ */
+// clang-format off
+#define RAD_TO_DEG(RAD) ((RAD) * 180.0 / M_PI)
+// clang-format on
+
 
 /*
  *
diff --git a/src/xrt/auxiliary/util/u_hand_simulation.c b/src/xrt/auxiliary/util/u_hand_simulation.c
index 0f435b1ac..0fcaf7a4c 100644
--- a/src/xrt/auxiliary/util/u_hand_simulation.c
+++ b/src/xrt/auxiliary/util/u_hand_simulation.c
@@ -32,8 +32,6 @@ struct orientations54
 	struct xrt_quat q[HAND_SIM_NUM_FINGERS][HAND_SIM_NUM_ORIENTATIONS_IN_FINGER];
 };
 
-#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
-
 // For debugging.
 #if 0
 #include <iostream>
diff --git a/src/xrt/auxiliary/util/u_hand_tracking.c b/src/xrt/auxiliary/util/u_hand_tracking.c
index 8ca816e67..0d7dc2b43 100644
--- a/src/xrt/auxiliary/util/u_hand_tracking.c
+++ b/src/xrt/auxiliary/util/u_hand_tracking.c
@@ -20,8 +20,6 @@
 #include "util/u_time.h"
 
 
-#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
-
 bool
 u_hand_joint_is_metacarpal(enum xrt_hand_joint joint)
 {
diff --git a/src/xrt/auxiliary/vive/vive_poses.c b/src/xrt/auxiliary/vive/vive_poses.c
index 9b714caa7..7837aebe1 100644
--- a/src/xrt/auxiliary/vive/vive_poses.c
+++ b/src/xrt/auxiliary/vive/vive_poses.c
@@ -12,8 +12,6 @@
 #include "math/m_mathinclude.h"
 #include "math/m_api.h"
 
-#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
-
 static void
 vive_poses_apply_right_transform(struct xrt_vec3 *out_transform_position, struct xrt_vec3 *out_transform_rotation)
 {
diff --git a/src/xrt/drivers/android/android_sensors.c b/src/xrt/drivers/android/android_sensors.c
index 3efd1203a..94f624511 100644
--- a/src/xrt/drivers/android/android_sensors.c
+++ b/src/xrt/drivers/android/android_sensors.c
@@ -133,12 +133,10 @@ load_cardboard_distortion(struct android_device *d,
 		args->tray_to_lens_distance_meters = params.tray_to_lens_distance;
 	}
 
-#define DEG_TO_RAD(x) (float)(x * M_PI / 180.0)
 	args->fov = (struct xrt_fov){.angle_left = -DEG_TO_RAD(angles[0]),
 	                             .angle_right = DEG_TO_RAD(angles[1]),
 	                             .angle_down = -DEG_TO_RAD(angles[2]),
 	                             .angle_up = DEG_TO_RAD(angles[3])};
-#undef DEG_TO_RAD
 
 	ANDROID_INFO(d, "loaded calibration for device %s (%s)", model, vendor);
 
diff --git a/src/xrt/drivers/arduino/arduino_device.c b/src/xrt/drivers/arduino/arduino_device.c
index 535951836..44f9258bc 100644
--- a/src/xrt/drivers/arduino/arduino_device.c
+++ b/src/xrt/drivers/arduino/arduino_device.c
@@ -405,9 +405,9 @@ arduino_device_create(struct os_ble_device *ble)
 
 	m_imu_3dof_init(&ad->fusion, M_IMU_3DOF_USE_GRAVITY_DUR_300MS);
 
-#define DEG_TO_RAD ((double)M_PI / 180.0)
+#define DEG_TO_RAD_MULTIPLIER ((double)M_PI / 180.0)
 	float accel_ticks_to_float = (4.0 * MATH_GRAVITY_M_S2) / INT16_MAX;
-	float gyro_ticks_to_float = (2000.0 * DEG_TO_RAD) / INT16_MAX;
+	float gyro_ticks_to_float = (2000.0 * DEG_TO_RAD_MULTIPLIER) / INT16_MAX;
 
 	m_imu_pre_filter_init(&ad->pre_filter, accel_ticks_to_float, gyro_ticks_to_float);
 	m_imu_pre_filter_set_switch_x_and_y(&ad->pre_filter);
diff --git a/src/xrt/drivers/pssense/pssense_driver.c b/src/xrt/drivers/pssense/pssense_driver.c
index 3394ae3c3..9402dd138 100644
--- a/src/xrt/drivers/pssense/pssense_driver.c
+++ b/src/xrt/drivers/pssense/pssense_driver.c
@@ -43,8 +43,6 @@
 
 DEBUG_GET_ONCE_LOG_OPTION(pssense_log, "PSSENSE_LOG", U_LOGGING_INFO)
 
-#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
-
 static struct xrt_binding_input_pair simple_inputs_pssense[4] = {
     {XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_PSSENSE_TRIGGER_VALUE},
     {XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_PSSENSE_OPTIONS_CLICK},
diff --git a/src/xrt/drivers/rift/rift_interface.h b/src/xrt/drivers/rift/rift_interface.h
index d02b9d18e..4fca569af 100644
--- a/src/xrt/drivers/rift/rift_interface.h
+++ b/src/xrt/drivers/rift/rift_interface.h
@@ -37,7 +37,6 @@ extern "C" {
 #define IMU_SAMPLE_RATE (1000)      // 1000hz
 #define NS_PER_SAMPLE (1000 * 1000) // 1ms (1,000,000 ns) per sample
 
-#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.0)
 #define MICROMETERS_TO_METERS(microns) (float)microns / 1000000.0f
 
 // value taken from LibOVR 0.4.4
diff --git a/src/xrt/drivers/rift_s/rift_s_controller.c b/src/xrt/drivers/rift_s/rift_s_controller.c
index 380b67b77..5529c1c6b 100644
--- a/src/xrt/drivers/rift_s/rift_s_controller.c
+++ b/src/xrt/drivers/rift_s/rift_s_controller.c
@@ -40,8 +40,6 @@
 /* Set to 1 to print controller states continuously */
 #define DUMP_CONTROLLER_STATE 0
 
-#define DEG_TO_RAD(D) ((D)*M_PI / 180.)
-
 static struct xrt_binding_input_pair simple_inputs_rift_s[4] = {
     {XRT_INPUT_SIMPLE_SELECT_CLICK, XRT_INPUT_TOUCH_TRIGGER_VALUE},
     {XRT_INPUT_SIMPLE_MENU_CLICK, XRT_INPUT_TOUCH_MENU_CLICK},
diff --git a/src/xrt/drivers/rift_s/rift_s_hmd.c b/src/xrt/drivers/rift_s/rift_s_hmd.c
index 4bc2fcb66..4b5298824 100644
--- a/src/xrt/drivers/rift_s/rift_s_hmd.c
+++ b/src/xrt/drivers/rift_s/rift_s_hmd.c
@@ -40,8 +40,6 @@
 
 #include "rift_s_hmd.h"
 
-#define DEG_TO_RAD(D) ((D)*M_PI / 180.)
-
 
 static xrt_result_t
 rift_s_get_tracked_pose(struct xrt_device *xdev,
diff --git a/src/xrt/drivers/simula/svr_hmd.c b/src/xrt/drivers/simula/svr_hmd.c
index 7c3b56ad9..398297de3 100644
--- a/src/xrt/drivers/simula/svr_hmd.c
+++ b/src/xrt/drivers/simula/svr_hmd.c
@@ -97,8 +97,6 @@ svr_hmd_get_tracked_pose(struct xrt_device *xdev,
 	return XRT_SUCCESS;
 }
 
-#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
-
 static xrt_result_t
 svr_hmd_get_view_poses(struct xrt_device *xdev,
                        const struct xrt_vec3 *default_eye_relation,
diff --git a/src/xrt/tracking/hand/mercury/hg_sync.cpp b/src/xrt/tracking/hand/mercury/hg_sync.cpp
index df88251db..45db3fabf 100644
--- a/src/xrt/tracking/hand/mercury/hg_sync.cpp
+++ b/src/xrt/tracking/hand/mercury/hg_sync.cpp
@@ -25,7 +25,6 @@
 
 
 namespace xrt::tracking::hand::mercury {
-#define DEG_TO_RAD(DEG) (DEG * M_PI / 180.)
 
 DEBUG_GET_ONCE_LOG_OPTION(mercury_log, "MERCURY_LOG", U_LOGGING_WARN)
 DEBUG_GET_ONCE_BOOL_OPTION(mercury_optimize_hand_size, "MERCURY_optimize_hand_size", true)