actually immediately;
you need to have precise gps coordinates of your base station which does influence the absolute accuracy of your rover; if you don’t know them reach can average the position in anything from 1 to 30 mins automatically; (you decide how long);
also you need a correction link: wifi or radio modem (like rfd868/rfd900 or 3DR modems) or 3G/LTE - depending on the distance you need;
if you also manage to do cable management away from electromagnetic interference (ESCs, motors, etc) you should be set up in a very short time!
(reading the docs will help save time too!!)
From around the world to couple of cm (if you`r lucky)
Couple of minutes isnt enought for singel position in cm range. But usually around few meters
I say this because it is good habit to let gps collect some amount of data before averaging a position, just to rule out great errors