Not enought fast thr to succesfull autonomous take off, 3.5 rc9

I try to repeat a full autonomous flight with the 710kv tarot cuad as I did with my robocat cuad in the past.
take off- mission-land-delay-do jump but, in the second take off the copter didn´t have enought fast power to take off succesfully so I try to rescue but flip and crash, only the salad bowl that covers the FC broken (no money lost) ; which param I have to tune for a faster autonomous take off? (the first take off with me raising the throttle was succesfull, then I didn´t move the stick from the middle)