MAV_CMD_NAV_LAND in guided or auto mode?


I just want some clarification on the MAV_CMD_NAV_LAND command.

Here ( it says that you must exit AUTO mode to stop the motors.

But here ( it says it’s a GUIDED mode command.

Which mode would I use it in?

Also for the LAND flight mode, are you able to set coordinates to land at. Here ( it says that the copter just lands directly below but on Mission Planner it looks like you can enter coordinates.

Thank you!