If you describe your quad in detail, maybe we can suggest a starting point, then there is some tuning procedures to follow. With Ardupilot there are so many different choices and hardware possibilities that tuning is not a simple few mouse clicks and couple of test flights (but it can be when you are experienced)
After the calibrations, set up voltage monitoring then use MissionPlanner Initial Parameters to put in place most things you need to do a test flight and start adjusting PIDs for stable flight.
https://ardupilot.org/copter/docs/tuning-process-instructions.html
It’s easy enough to set up the Harmonic Notch Filter, then probably run Autotune.
The 7" Tuning thread is full of knowledge too, maybe too much!
https://discuss.ardupilot.org/t/arducopter-7-long-range-standard-build