const int max_planes = 20; // max number of planes on the stack
const int max_wp = 10; // max number of waypoints for approach phase
const double max_ta = 130; // max turning angle for plane during approach
-const double tbm = 20000.0; // min time (in ms) between two messages
+const double tbm = 2.0; // min time (in sec) between two messages
const double lfl = 10.0; // length of final leg
struct PlaneApp {