Instead of clicking the airframe in QGC you can directly set the SYS_AUTOSTART param to the airframe id. This skips the param reset, but you also might miss airframe specific defaults. I can also show you where in the code to hack to avoid this.
Although annoying it's generally safer to force users to recalibrate when jumping to a new airframe.
Perhaps we should add another param to optionally skip the sensor calibration reset.