1/ The simplest, quickest and probably the only possible is to buy new battery. You can see problem also if you measure internal battery resistance, if your charged allows it. Compare values with healthy battery and all will be clear.
2/ You can check what is the problem if you read voltage during flight from ESC, you will see if problem is really extraordinary low voltage, because:
3/ It could be that you use too low number of cells for your motor and prop. It needs some voltage reserve to allow proper working of governor. It can work well with new healty battery and it can fail if battery is older just by little voltage drop. If you have enough headroom it will work well also with older battery. So may be you can tell us KV of your motor and prop which you use. It will be clear if this is the case. If the voltage is "on edge" it can also cause nice level lap times, but will not pull well overhead, becayse governor cannot add power for climbing.