Dronekit Rpi pixhawk

Hi all, can someone please guide me on how to get geofence breach (update fence points, draw polygon on gcs and set fence_enable) working from dronekit + Rpi
Also intercepting FENCE_STATUS from mavlink message during the flight and not analysing the .tlog after the flight is done.

Also any pointers to achieve secure firmware upgrade and secure boot.

Thanks in advance