The best and easiest way to shoot something like that would be to use the Map Pilot defaults of Auto exposure and 80/80 overlap. If the highest structure is 40 meters you would need to fly 4-5X that height, which might be too high. Look into using Terrain Awareness to minimize the height you have to fly while still being 4-5X the height of the roofs. If you can't fly that high you will need to use a bit more overlap or you risk not being able to render the highest spots.
Use the DJI Specific workflow with the default settings.
Also, the P3S isn't the right tool for the job. You can try it but that camera is almost 7 years old at this point. You will save a lot of work and get better results with a more modern aircraft/camera.