Cruise speed


I want to adjust cruise speed.

At default settings I have a ground speed of about 42km/h (without airspeed sensor), and I think the optimal speed should be lower. In the mission planner I have value "Cruise speed", default 12m/s. I updated it to 9.5, but don't see any change in actual cruise speed.

How to set cruise speed?

Are these different settings with RTL speed? For RTL I prefer keep it as is - less efficient, but more reliable.

Is it possible to adjust cruise speed during flight, providing value from transmitter channel, like in iNav?

And (sorry for the stupid question) is iNav better? I only have experience with Arduplane, using it from time to time since 2013, and find it reliable, but I can see more and more videos from iNav users.

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