Issue with latency when sending position setpoints in offboard mode

Hi All,

I’m experiencing sustained issues with latency between setting position setpoints and px4 attempting to track the point. I am sending a position setpoint triplet directly over uorb when the apex of a trajectory is detected by the distance sensor and this is registering correctly as per the debug flag in the graph. I have been experiencing this issue in both sim and the field.

Thanks for any help

Link to the sim logs, the event happens at the end: