Here is the easy way if understanding it: aperture, ISO, and shutter speed all control how much light hits the sensor. A longer (slower) shutter speed, higher ISO (sensitivity), or wider aperture (literally a bigger hole in the shutter opening) all will brighten the image. For best quality, you want to use the lowest ISO possible (100, iirc). So "lock" that parameter in your mind. For smooth motion, you want to shoot video at double the frame rate (as a general rule). So 1/120th second for a 60fps capture. If you lock that second parameter in your mind, you realize you have only one setting left to adjust: aperture. However, we have fixed aperture cameras on our drones. So what are we to do? Make the day less bright by slapping a ND filter on the lens. To the sensor, you just went from a blindingly bright day (in which you would normally want a shutter speed like 1/4000th of a second) to dusk, when our 1/120th is right.
You want to set your shutter speed to the right one and observe the output. On a well lit day, it is probably WAY too bright. Put on darker and darker ND filters until your exposure looks good. You can always adjust ISO one "stop" higher to make fine adjustments, as going to ISO 200 or even 400 probably doesn't hurt image quality too much. However, the golden rule is to keep it as base (100) and use your filters to get the brightness level you want.
I hope this makes sense and helps!