Applying LOITER mode geofence behavior to other modes?

The FENCE_ACTION parameter only supports two values:

  • 0 for “report only”
  • 1 for “rtl or land”

However, in LOITER mode, regardless of the value of FENCE_ACTION, there is a third behavior: the vehicle will treat the geofence like a “wall” and will simply refuse to cross it.

This is often much more useful than the RTL/Land behavior, but sometimes one wants to fly in something other than LOITER mode. Has there been any work done to extend this behavior beyond LOITER mode? It seems that supporting a third value for FENCE_ACTION would be ideal (3 for “enforce”), at least for other GPS-enabled flight modes like PosHold.