I really like how my Pixhawk Black Cube with 4.0.2 is flying, but I am having some problems with auto take off. When I press the takeoff button the motors spool up real fast and the drone shoots straight up really fast to about 8-10 feet and then slowly climbs nicely to 10m. I cannot find anywhere in the parameters how to change the ramp time of the motors, how to change how fast the motors spin before it takes off and I even cannot find how to change the takeoff altitude? Can anyone help me please? The motors seem to go from zero to full throttle on the ground in 1 second and then it launches so fast straight up and then settles down. What parameters can I change? Thank you very much.