Retropie - Switching composite output resolution?

[/RaspberryPi]

I am running the Retropie distro on a Pi 3 via composite to a cheap TV. I use the default resolution of 720x480 for EmuStation, and it looks and works great.
The problem is that, in retroarch, games that run at 240p are being upscaled to that 480i resolution. It looks okay but it doesn't look "right".
I have tried changing the resolution in retroarch but that doesn't change the actual output resolution of the Pi. I know I can just set the resolution in the Pi's startup config to 240p, but running EmulationStation at that resolution makes the text borderline unreadable.
Is there a way to switch the Pi's output resolution when loading into retroarch?

submitted by /u/krautnelson
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