Problem with Path Planning algorithms

Hello, everyone.

I have a problem with Path Planning algorithms(Dijkstra and Bendy Ruler) in SITL. When I enable one of them by OA_TYPE it applies a delay to every waypoint and reduces flight speed before each waypoint which is not suitable for our application.
Is it really like this in fact? Does anyone have any idea how to remove this delay?
Thank you for your help :pray: