Flying by points upside down

[SystemDiagnosticss]

Hello. Is it possible to use this plugin for flying upside down ?? I need to fly by points like in this tutorial but drone must be upside down on some part of path and also upside up on other part of path ... Maybe I can write some tf transformer(Odometry publisher) for it? Or what? Maybe I can rotate odometry frame ? I will be very grateful for any help ... Thanks!