Offset

You can set dynamic (non-fixed) offset by using an element’s selector (e.g. a top sticky menu selector) as the “Offset” option value in plugin settings.

You can also use plugin’s “Auto-generate #ps2id-dummy-offset element” option to create advanced offsets.

See the links below for more info:

http://manos.malihu.gr/page-scroll-to-id-for-wordpress-tutorial/#offset-menu-section
http://manos.malihu.gr/page-scroll-to-id-for-wordpress/#plugin-settings-offset

For a way to find your sticky element selector, see plugin’s video tutorial here.

If you can post your site URL, I’d be happy to check it and provide an exact offset value that works for your page(s).