Apple Pencil and Markup

Hi,

I use my ipad for work and spend a lot of time accessing and marking up PDF documents using the pre installed email app. Does anyone know if it is possible to have markup activate when the apple pencil touches the screen and then deactivate once it leaves the screen?

This would save having to keep tapping the pencil icon at the top of the screen every time you want to enter and exit the markup mode.

Thanks