Reached Waypoints Too Fast

In Auto Mode, Copter reached the waypoint and go to the next waypoint too fast. In real world, Copter not reach the watpoint yet (Error about 4-5 meters)

Are there any parameters for tuning ?

My Params

For smooth en route navigation going directly through the gate is undesirable. If you need your copter to pass directly through a waypoint add an outgoing waypoint in a straight line with inbound and target waypoints (IIRC placing it too close will cause a copter to slow down) or add a delay after a waypoint so a copter stops at the waypoint.