Quadcopter not balanced at take off

Hi guys, I am new to Quadcopters and this forum. I just made a Quadcopter F450 with arducopter with GPS. Now today I made its first flight. The problem is that it does not take off. After arming, I give it a little thrust, and only two of its propellers rotate. Upon increasing the thrust all propellers start to rotate. When i try to take it off for fly by increasing the thrust more, it falls down on one of its sides. What could be the problem? I already calibrated its compass and gyros by using Mission Planner software that comes with ardupilot, installed the firmware properly. If any one can help? Is there a way i can share the video  on this forum, i can share that as well. Thanks.

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