Speed in Loiter and Auto mode

We are testing the auto mode flight using Marvelmind’s beacon.
The LOIT_SPEED and WPNAV_SPEED parameters have been changed to reduce the speed of movement.
Because the drone moved around because of the accuracy of beacon.
After slowing down, It looks better. This is not the main question, but if anyone knows how to increase the accuracy of the beacons, please help us.

The main problem is that there is a problem with the maneuverability after slowing down the travel speed.
Can I set the speed at which I move automatically to position and when I give commands to move?
Please help me.

If it’s acceleration to speed you are asking about there are parameters for both Auto and Loiter.