@jgoppert @thomasgubler Please also ensure that there is no aliasing - when you ask uORB to limit for 5 ms and the message arrived at 4.98 ms it will drop it, so for a 200 Hz limit and a 200 Hz signal you can end up due to jitter with 150 Hz outputs. Better to limit to 250 Hz / 4 ms if you want 200. You need to allow the system a reasonable amount of a few microseconds jitter (which is really low).