A cardiac pacemaker is disclosed for pacing cardiac tissue to improve synchrony between the atria and ventricles and/or between the left and right ventricles. A pulse generator is configured to deliver a pacing pulse to a patient's ventricle at an atrioventricular (AV) delay following a preceding atrial event. A sensing circuitry configured to sense a signal from the patient's ventricle following delivery of a said pacing pulse. A processing circuitry coupled to the pulse generator and the sensing circuitry and configured to control the pulse generator, the processing circuitry further configured to: (1) acquire from the sensed signal a set of features; (2) determine whether the ventricular pacing pulse effectively captures the patient's ventricle using the set of features; (3) determine whether one or more tissue latency conditions are present. The one or more pacing pulse parameters are adjusted, in response to determining that tissue latency is present.