diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp
index 3cc6dfc3c2b9..2862bcf18199 100644
--- a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp
+++ b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.cpp
@@ -125,47 +125,54 @@ RoverAckermannGuidance::motor_setpoint RoverAckermannGuidance::computeGuidance(c
 						  _curr_wp(0),
 						  _curr_wp(1));
 
-		if (_param_ra_miss_vel_min.get() > 0.f  && _param_ra_miss_vel_min.get() < _param_ra_miss_vel_def.get()
-		    && _param_ra_miss_vel_gain.get() > FLT_EPSILON) { // Cornering slow down effect
-			if (distance_to_prev_wp <= _prev_acceptance_radius && _prev_acceptance_radius > FLT_EPSILON) {
-				const float cornering_speed = _param_ra_miss_vel_gain.get() / _prev_acceptance_radius;
-				desired_speed = math::constrain(cornering_speed, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
-
-			} else if (distance_to_curr_wp <= _acceptance_radius && _acceptance_radius > FLT_EPSILON) {
-				const float cornering_speed = _param_ra_miss_vel_gain.get() / _acceptance_radius;
-				desired_speed = math::constrain(cornering_speed, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
-
-			} else { // Straight line speed
-				if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_jerk.get() > FLT_EPSILON
-				    && _acceptance_radius > FLT_EPSILON) {
-					float max_velocity{0.f};
-
-					if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {
-						max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_ra_max_jerk.get(),
-								_param_ra_max_accel.get(), distance_to_curr_wp, 0.f);
+		if (distance_to_curr_wp > _acceptance_radius) {
+			if (_param_ra_miss_vel_min.get() > 0.f  && _param_ra_miss_vel_min.get() < _param_ra_miss_vel_def.get()
+			    && _param_ra_miss_vel_gain.get() > FLT_EPSILON) { // Cornering slow down effect
+				if (distance_to_prev_wp <= _prev_acceptance_radius && _prev_acceptance_radius > FLT_EPSILON) {
+					const float cornering_speed = _param_ra_miss_vel_gain.get() / _prev_acceptance_radius;
+					desired_speed = math::constrain(cornering_speed, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
+
+				} else if (distance_to_curr_wp <= _acceptance_radius && _acceptance_radius > FLT_EPSILON) {
+					const float cornering_speed = _param_ra_miss_vel_gain.get() / _acceptance_radius;
+					desired_speed = math::constrain(cornering_speed, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
+
+				} else { // Straight line speed
+					if (_param_ra_max_accel.get() > FLT_EPSILON && _param_ra_max_jerk.get() > FLT_EPSILON
+					    && _acceptance_radius > FLT_EPSILON) {
+						float max_velocity{0.f};
+
+						if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL) {
+							max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_ra_max_jerk.get(),
+									_param_ra_max_accel.get(), distance_to_curr_wp, 0.f);
+
+						} else {
+							const float cornering_speed = _param_ra_miss_vel_gain.get() / _acceptance_radius;
+							max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_ra_max_jerk.get(),
+									_param_ra_max_accel.get(), distance_to_curr_wp - _acceptance_radius, cornering_speed);
+						}
+
+						desired_speed = math::constrain(max_velocity, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
 
 					} else {
-						const float cornering_speed = _param_ra_miss_vel_gain.get() / _acceptance_radius;
-						max_velocity = math::trajectory::computeMaxSpeedFromDistance(_param_ra_max_jerk.get(),
-								_param_ra_max_accel.get(), distance_to_curr_wp - _acceptance_radius, cornering_speed);
+						desired_speed = _param_ra_miss_vel_def.get();
 					}
-
-					desired_speed = math::constrain(max_velocity, _param_ra_miss_vel_min.get(), _param_ra_miss_vel_def.get());
-
-				} else {
-					desired_speed = _param_ra_miss_vel_def.get();
 				}
+
+			} else {
+				desired_speed = _param_ra_miss_vel_def.get();
 			}
 
-		} else {
-			desired_speed = _param_ra_miss_vel_def.get();
-		}
+			// Calculate desired steering
+			desired_steering = calcDesiredSteering(_curr_wp_ned, _prev_wp_ned, _curr_pos_ned, _param_ra_lookahd_gain.get(),
+							       _param_ra_lookahd_min.get(), _param_ra_lookahd_max.get(), _param_ra_wheel_base.get(), desired_speed, vehicle_yaw);
+			desired_steering = math::constrain(desired_steering, -_param_ra_max_steer_angle.get(),
+							   _param_ra_max_steer_angle.get());
+			_prev_desired_steering = desired_steering;
 
-		// Calculate desired steering
-		desired_steering = calcDesiredSteering(_curr_wp_ned, _prev_wp_ned, _curr_pos_ned, _param_ra_lookahd_gain.get(),
-						       _param_ra_lookahd_min.get(), _param_ra_lookahd_max.get(), _param_ra_wheel_base.get(), desired_speed, vehicle_yaw);
-		desired_steering = math::constrain(desired_steering, -_param_ra_max_steer_angle.get(),
-						   _param_ra_max_steer_angle.get());
+		} else { // Catch delay command
+			desired_steering = _prev_desired_steering; // Avoid steering on the spot
+			desired_speed = 0.f;
+		}
 	}
 
 	// Throttle PID
diff --git a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp
index 090f37b15e97..0a73abceb553 100644
--- a/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp
+++ b/src/modules/rover_ackermann/RoverAckermannGuidance/RoverAckermannGuidance.hpp
@@ -151,6 +151,7 @@ class RoverAckermannGuidance : public ModuleParams
 	Vector2f _curr_pos_ned{};
 	PID_t _pid_throttle;
 	hrt_abstime _timestamp{0};
+	float _prev_desired_steering{0.f};
 
 	// Waypoint variables
 	Vector2d _curr_wp{};