What's the value of angular velocity of ardupilot?

Hi, I’m making my own code and trying to add some kind of safeguard which is if angular velocity and pitch roll angle of a drone is higher than some specific velocity and angle than stops motors.
I found angular velocity is obtained by get_gyro_latest(); but I can’t find which unit is used.

Is it expressed in rad/s? If i want to stop motors if its angular velocity is higher than 1rad/s for instance,
what would be the correct value in c++ ardupilot code?
And also how could I get current roll, pitch angle and would it be expressed in degree? or rad?

Thank you.