Motor rotational speed in a flight mode


I am working on a specific “flight mode” which is exactly like takeoff, but with several changes. I would need the motors to rotate at a specific frequency. The procedure would be:
1- Land without disarming
2- Set flight mode
3- Decrease the motor speed.
4- Wait for action
Does anybody know which is the correct uORB topic or how should I proceed?

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Did you figure how to decrease the motor speed?