diff --git a/libraries/AP_Soaring/AP_Soaring.cpp b/libraries/AP_Soaring/AP_Soaring.cpp
index a510ff1ec0fa3..a011ab01edf7b 100644
--- a/libraries/AP_Soaring/AP_Soaring.cpp
+++ b/libraries/AP_Soaring/AP_Soaring.cpp
@@ -8,6 +8,10 @@
 #include <GCS_MAVLink/GCS.h>
 #include <stdint.h>
 
+#if HAL_SOARING_NVF_EKF_ENABLED
+static constexpr float NVF_PUBLISHER_DELAY_MS = 250.0;
+#endif // HAL_SOARING_NVF_EKF_ENABLED
+
 // ArduSoar parameters
 const AP_Param::GroupInfo SoaringController::var_info[] = {
     // @Param: ENABLE
@@ -370,10 +374,14 @@ void SoaringController::update_thermalling()
                                            (double)wind_drift.y,
                                            (double)_thermalability);
 #if HAL_SOARING_NVF_EKF_ENABLED
-    gcs().send_named_float("SOAREKFX0", (float)_ekf.X[0]);
-    gcs().send_named_float("SOAREKFX1", (float)_ekf.X[1]);
-    gcs().send_named_float("SOAREKFX2", (float)_ekf.X[2]);
-    gcs().send_named_float("SOAREKFX3", (float)_ekf.X[3]);
+    if (_prev_update_time - _prev_nvf_pub_time > NVF_PUBLISHER_DELAY_MS) {
+        gcs().send_named_float("SOAREKFX0", (float)_ekf.X[0]);
+        gcs().send_named_float("SOAREKFX1", (float)_ekf.X[1]);
+        gcs().send_named_float("SOAREKFX2", (float)_ekf.X[2]);
+        gcs().send_named_float("SOAREKFX3", (float)_ekf.X[3]);
+        _prev_nvf_pub_time = _prev_update_time;
+    }
+
 #endif // HAL_SOARING_NVF_EKF_ENABLED
 #endif
 }
diff --git a/libraries/AP_Soaring/AP_Soaring.h b/libraries/AP_Soaring/AP_Soaring.h
index c43e72559069d..e4989c21acdfb 100644
--- a/libraries/AP_Soaring/AP_Soaring.h
+++ b/libraries/AP_Soaring/AP_Soaring.h
@@ -48,6 +48,11 @@ class SoaringController {
     // store time of last update
     uint64_t _prev_update_time;
 
+    // store time of last NVT publish
+#if HAL_SOARING_NVF_EKF_ENABLED
+uint64_t _prev_nvf_pub_time;
+#endif // #if HAL_SOARING_NVF_EKF_ENABLED
+
     bool _throttle_suppressed;
 
     float McCready(float alt);