Communication between mission planner and flight controller is weak

The communication strength is weak when the Mission Planner is wirelessly connected to the navio2. It takes a long time to get the parameters and calibrate. Is there a solution?

ArduCopter V3.6.9
Frame: QUAD
Raspberry Pi 4B
Controller: navio2

Get a better radio system, like the RFD900x or RFD868x.