If all you’re after is velocity control, this seems like way more effort than should be necessary.
There’s some discussion of the parameters in this thread. Blue Robotics has not done measurements of them, and correct values would depend on the vehicle configuration in use (including added components).
If there are specific parameters you’re interested in and can’t readily find out how to estimate we can try to discuss them. Some may have already been discussed in posts with the vehicle-design tag. Some may be challenging to measure without specialised equipment, and may require fluid simulation software to estimate accurately.