SITL "commander takeoff"

Hello @Jaeyoung-Lim, @bresch, @bkueng @MaEtUgR.
I can see the “commader takeoff” command that takes the multicopter off to 2.5 meters height(default), but could not find a command related to this “commander” that can give a point in 3-D. Like i want to to move my quadcopter (in px4_sitl) to a point (a, b,c) wherer they are non-zero.
I could not figure it out, please give some information on this so that i can achieve the task.
Moreover, i would like to know that is GPS required for this action as i have LIDAR and optical flow attached to model and they are working correctly.