Tailsitter transition after takeoff

Is there a way to do the transition from MC to FW after takeoff altitude directly to the altitude of way point 1 without waiting for the drone to climb first and then start the transition?

You mean doing the transition while climbing? I would assume that could be done by increasing NAV_MC_ALT_RAD, but then you also increase the acceptance threshold for all other hover waypoints.
Isn’t it okay if you just set a low takeoff altitude?

I will try to explain the problem better. I take off to a height of 20 meters and then fly to point number 1 while transitioning to airplane mode first.

What actually happens: the plane takes off to a height of 20 meters, continues to catch up to the height of point number 1. Only when it stops at this height does it begin to make the transition to airplane mode.