Just do this, when you come off the lip put your hand down and let your feet come over your head, make it effortless, let inertia do the work. Anyway you will be inverted facing downhill, then just fall forward and guide your feet back under you. I dont think its a hard trick to learn/invision (like a mctwist), it just takes practice. Of course there are a lot more ways to do it but thats most likely the easiest. I really wanna try it but I broke my left wrist and that would be the hand to put down cuz Im comfortable with the right wall, I think Im still gonna try it tho, well see.