How to implement a high pass filter digitally to remove the dc offset from sensor data
The filter you desire is often called a “DC removal” or a “DC cancelation” filter. Unfortunately there’s no way to design a useful IIR DC removal filter that has no “settling time”. Your designed filter’s “transition region” is the lower passband frequency (50 Hz) minus the upper stopband frequency (10 Hz). So your designed filter’s transition region is 40 Hz.
If you design a “sharper” DC removal filter having a transition region of 20 Hz then that filter will have a longer settling time. If you design a DC removal filter having a wider transition region of 100 Hz (a lower “performance” filter) then that filter will have a shorter settling time than the filter you designed. So tryingengineer, you’re faced with a trade-off; the higher the performance of a filter (narrower transition region) the longer will be its settling time.
By the way, IIR filters have nonlinear phase responses. If you seek a computationally-efficient  DC removal filter that has a linear phase response, see the material at:
https://www.dsprelated.com/showarticle/58.php