@KingBBQ unfortunately there is not a parameter for auto-takeoff pitch (yet! fyi @dagar and I have been discussing adding one for a while now, just hasn’t been prioritized yet). However, you can influence takeoff pitch using the Takeoff Waypoint in Qgroundcontrol. There is a “pitch” entry field in the Takeoff waypoint editor. PX4 looks at the waypoint, and if it is a Takeoff type waypoint, then it looks for the Pitch value and will use it. Also, I believe there is a bug in PX4 where if you do not have a proper Takeoff waypoint and try an autotakoff in Mission mode to a normal waypoint the pitch command gets very screwed up internally and does bad things.
For now just be sure you are using a Takeoff type waypoint
Keep an eye out for if a new takeoff pitch parameter ever comes around, then you can just permently set it and now have to worry about planning a special Takeoff waypoint with the pitch set right for your vehicle…