You mentioned that you're using ISO 100-200. That's a problem.
The P3SE has a fixed lens apperture of 2.8 IIRC. If you lock the ISO at 100 that means that the only way to gain enough light for a shot like this would be to crank up the exposure time. The second picture looks bad because of this reason. The exposure time was too long and everything seems blurry and out of focus, when in fact it's quite impossible to keep the drone steady for a long timespan.
My advice would be to try to test how much you can crank up the ISO and see what kind of noise it gives the images in low light. Once you know the maximum value ISO which yields usable photos for your style, you can balance the ISO and exposure time properly.