How can I start the motors quickly

I am using PX4 Autopilot software for a project. In my project, it is necessary for the motors to start quickly after arming. I am using the drone in offboard and position mode.
I want the motors to ascend to a height of 5 meters after arming, but currently, it takes a lot of time to lift off from the ground. In other words, there is a gradual increase in speed, and even though I have set the PID values very high, there is no noticeable acceleration in the first ascent after arming
My goal is to have the drone immediately accelerate to lift off from the ground in the first position data after arming

I don’t know for sure, but you might want to look at MPC_ACC_UP_MAX: Parameter Reference | PX4 User Guide (main)

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