MAV_CMD_NAV_LAND in guided or auto mode?

ArduCopter Copter 3.6
, ,
1

Hello,

I just want some clarification on the MAV_CMD_NAV_LAND command.

Here (http://ardupilot.org/copter/docs/common-mavlink-mission-command-messages-mav_cmd.html#mav-cmd-nav-land) it says that you must exit AUTO mode to stop the motors.

But here (http://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html) 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 (http://ardupilot.org/copter/docs/land-mode.html) it says that the copter just lands directly below but on Mission Planner it looks like you can enter coordinates.

Thank you!