I think there are several commands and you will have to set, and buy a compatible gps unit for naze32 clone. (I look at doing this in the past, but kept reading that the naze32 gps functioning was not the best)
I am not sure on the other boards so hopefully someone else will chime in on those.
On my larger multi-rotors I am currently flying the naza and tarot controllers that have built in rth. This could be an option too if you are looking into purchasing one.