[NEED HELP] Changing Quadcopter's Motor Rotation Direction Mid-Flight

Hi, I am searching for a way to reverse the rotation of my quadcopter’s motors while in the air. I am planning on using offboard mode to send commands to the drone and I have configured the motors as bidirectional in QGroundControl. My hope is that as soon as the PX4 controller receives a command where it is favorable to reverse the direction of the motors, (in order to create reverse thrust) it will. Will this work? If not, does anyone know of a way?

Any help is appreciated,
Thank you