Be coherent, yaw always expressed in degrees in the API

lib/Controller.js

@@ -97,7 +97,7 @@ Controller.prototype.state = function() {
  * Sets the goal to the current state and attempt to hover on top.
  */
 Controller.prototype.hover = function() {
-    this.go({x: this._state.x, y: this._state.y, z: this._state.z, yaw: this._state.yaw});
+    this._go({x: this._state.x, y: this._state.y, z: this._state.z, yaw: this._state.yaw});
 }
 
 /*
@@ -125,7 +125,7 @@ Controller.prototype.forward = function(distance, callback) {
    var gy = state.y + Math.sin(state.yaw) * distance;
 
    // Assign the new goal
-   this.go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
+   this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
 }
 
 /*
@@ -148,7 +148,7 @@ Controller.prototype.right = function(distance, callback) {
    var gy = state.y + Math.cos(state.yaw) * distance;
 
    // Assign the new goal
-   this.go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
+   this._go({x: gx, y: gy, z: state.z, yaw: state.yaw}, callback);
 }
 
 /*
@@ -167,7 +167,7 @@ Controller.prototype.cw = function(angle, callback) {
     var state = this.state();
     var yaw   = state.yaw.toDeg() + angle;
 
-    return this.go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback);
+    return this._go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback);
 }
 
 /*
@@ -182,7 +182,7 @@ Controller.prototype.ccw = function(angle, callback) {
  */
 Controller.prototype.up = function(distance, callback) {
     var state = this.state();
-    return this.go({x: state.x, y: state.y, z: state.z + distance, yaw: state.yaw}, callback);
+    return this._go({x: state.x, y: state.y, z: state.z + distance, yaw: state.yaw}, callback);
 }
 
 /*
@@ -197,7 +197,7 @@ Controller.prototype.down = function(distance, callback) {
  */
 Controller.prototype.altitude = function(altitude, callback) {
     var state = this.state();
-    return this.go({x: state.x, y: state.y, z: altitude, yaw: state.yaw}, callback);
+    return this._go({x: state.x, y: state.y, z: altitude, yaw: state.yaw}, callback);
 }
 
 /*
@@ -205,7 +205,7 @@ Controller.prototype.altitude = function(altitude, callback) {
  */
 Controller.prototype.yaw = function(yaw, callback) {
     var state = this.state();
-    return this.go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback);
+    return this._go({x: state.x, y: state.y, z: state.z, yaw: yaw.toRad()}, callback);
 }
 
 /*
@@ -213,9 +213,17 @@ Controller.prototype.yaw = function(yaw, callback) {
  * is reached, the callback is called with the current state.
  *
  * x,y,z in meters
- * yaw in radians
+ * yaw in degrees
  */
 Controller.prototype.go = function(goal, callback) {
+    if (goal.yaw != undefined) {
+        goal.yaw = goal.yaw.toRad();
+    }
+
+    return this._go(goal);
+}
+
+Controller.prototype._go = function(goal, callback) {
     // Since we are going to modify goal settings, we
     // disable the controller, just in case.
     this.disable();