I use a madvapes voltmeter. Screw it on and fire the device and it will tell the batt charge. screw something on top of it and then fire the device and it will tell the voltage underload. Subtract underload number from the nonunderload number and that gives you the drop. Probably not the most accurate of ways to tell but it's what I have.
The best way to measure total voltage drop is to measure the voltage at the coil (where it matters most). If you're using a rba all you need is a multimeter and it's pretty easy to do.