You can set WPNAV_SPEED in the parameters view. The speed between WP in cm/s ie 500 is 5m/s
I’m not sure about the glitch between WPs, i need to look into how that can be adjusted by the parameters. It’s part of the vehicle config, and not really a MAVPilot issue.
I will be adding Config Screens so items like WPNAV_SPEED etc are easily set using a slider for example.