Set pixhawk 2.4.8 with mission planner to stop trottle position

Hi, i have this problem. When i arm my pixhawk and set esc moving up and down the trottle stick, after confirmation bip, my motors begin to rotate. I must to set trim down on rc until they stop. Can i set this on my pixhawk? Can i too set fewer laps on maximun of trottle. For example : i would like that my my engines run less when I enter the maximum speed on trottle stick my rc, so also when i set my gps the autopilot (I still have to understand how it works) don’t go at the maximun of rotation.
thank you.