Motor's behavior during auto takeoff

When I am doing Auto missions with automatic takeoff, the motors spool very fast and then the drone fly upwards, also very fast. I tried looking the parameters’ list but couldn’t find anything that control aspects of this behavior.(To be clear, I want to to make the takeoff to be smooth).

I found another questions about this same problem, How to change auto takeoff settings? from a year ago there wasn’t a solution. I am asking now to see since then anyone have a solution.