Many, many students struggle with the class you're in, and a lot of them are taught in the format you're experiencing. I *hate* that so many schools are using this format for such an important class, and one that students tend to struggle in, even if they do it all in person. But alas, it is what it is, so you need to find a way to make it work better for you.
You need to be self-motivated and organized to pass a class like this. And that can take some work.
Since you know you do well in classes which meet multiple times per week, you can set this class up for yourself so that it's in that same format. For example, make it so that M, W and F you do work for this class from 1-2pm. Actually find time and schedule it into your week, as if it were real class time, and then really do your work for the class at that time.
If you know you do best if you have an "external motivator" involved - for example, you do the work because you have to meet the class and professor three times per week - then you can engineer that as well. Arrange for extra help sessions with the instructor once per week, on a day that is separate from the class day, and/or get a tutor and meet them every week at a specific time. Not only might the extra help help your grade, but it may be that, by having an appointment to meet with someone about the class at a certain time every week, that'll help you make sure you get a certain amount of that week's work done by that day; just like being in an in-person class might.
You can also use the professor during class time. I know you're all doing the drills in groups, but you can also ask him questions, call him over for help, etc.