You can already do that today (yes, on iOS) by using your own developer-signing certificate (because if it's from github, you can build it from source; or re-link/assembly prebuilt linkable binaries if you really feel like it).
Remember the vast, vast majority of iOS users are people like (I assume) our parents - or people we knew in the late-1990s/early-2000s with an excessive number of Internet Explorer toolbars and Bonzi Buddy. I support Apple's mission to keep crap like that off their platform, but Apple sleepwalked into prompting this regulation of their app-store because they weren't the good-stewards they said they'd be - so I'm ambivalent about the whole thing.