If a 1.5 volt cell was down to 1.4 volts, I would not want to send a boat out using it.
A meter will just tell you the voltage under the conditions at the time, it cant tell you directly how much actual power is in there. In the elder days, the test on a dry cell was to take three readings, V1 was "as is", just the cell and the meter, V2 was under load, V3 was about thirty seconds after the load was disconnected. If V2 was too low, reject and replace. If V3 was not within 0.1 volt of V1, replace.
This checked that there was enough voltage to handle the load, and that the cell could recover from a load.
If going for an extended sail, I would make sure that I was starting with fresh batteries, and had some spares. I would hope that the RX batteries would outlast the TX battery, so that when the TX started whimpering about low voltage, I could bring the boat in and change both lots of batteries.