ESC startup problem

I am encountering an issue with ESC startup sequence (I am using Navio2 and APM Planner).
I could properly calibrate my ESCs (In my case, I need to push the throttle to max then to min when they are powered up).
The problem, is that when I restart my quad copter, the min pwm is apparently sent, which sets the maximum throttle value for ESC to a wrong value.
Is It possible to have a start sequence such as max pwm then min pwm or at least have no signal sent to the ESCs on startup?
I have seen a parameter (ARMING_REQUIRE), but I cannot find It.