I think that the only way that this would work with the barest modicum of safety* is to have a breakwire system that lights off the motor immediately after leaving the silo. You'd need some kind of relay system in line so that the breakwire disconnecting closes the motor's lighting circuit, plus a tiltometer or something to interrupt the firing circuit if the rocket isn't still pointed up. And a motor that lights instantly, reliably. And enough CO2 to really give that rocket a whack out of the silo. And probably more stuff to keep the altimeters from being fooled by that big whack of CO2.
I thought about just sealing the motor and lighting the motor underwater, but I don't see easy ways to keep from filling the rocket with water. There might be ways to do it with careful sealing and a plastic bag, but I'm not interested enough to try to figure out what that would look like.
* Probably not enough to convince an RSO at an organized launch, at least until you'd flown it on your own a few times