AUTO XXX modes are GPS only. If no GPS, you will be be able to use those.
If you are going to do indoor flights, you can have the easy "position control" if you have a position feedback : PX4Flow, Mocap, Vicon, GPS, Decawave (UWB), Ultrasound (another don't remember the name). For the 2 last, you need an onboard computer.
Orelse you can use the ALTITUDE mode if you connected a position system or a laser.
For autonomous flights, you will probably use OFFBOARD mode, which also needs a position feedback.