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Cube Black skips JUMP_TOs after certain number of WPs

Hello,

I´m facing a strange behavior. My setup is a boat/rover (skid steered) on cube black.
I created a mission with around 600 WPs, quite close to the cubes limit.
The WPs include normal WPs, DELAYs, SET_YAW_SPEEDs (aka 213) and JUMP_TOs.

The SET_YAW_SPEEDs are used to create piourettes.
A piourette with one turn looks like:
1 0 3 213 20 0.1 0 0 0 0 100 1
2 0 3 213 140 0.1 0 0 0 0 100 1
3 0 3 213 260 0.1 0 0 0 0 100 1

A piourette with 10 turns without wasting waypoints looks like that:
1 0 3 213 20 0.1 0 0 0 0 100 1
2 0 3 213 140 0.1 0 0 0 0 100 1
3 0 3 213 260 0.1 0 0 0 0 100 1
4 0 3 177 1 9 0 0 0 0 100 1

That works pretty well so far. But:
In a mission with about 600 WPs and say 12 piourettes (10 turns each) every now and then,
the first 9 piourettes (10 turns each) are done correctly, but after that the last 3 piourettes are only a piourette with one turn.
Looks like at some point, the cube only executes the first turn, which are “real” commands, but skips the JUMP_TOs.
My guess is, that the cube internally adds the JUMP_TO rounds to the sum of WPs and when the maximum of 720 is reached, it just skips the JUMP_TOs. Or maybe some other RAM related issue?
The point of skipping the JUMP_TOs is exactly repeatable and occurs not randomly.

Any suggestions?

Thanks!
Denis

I believe there is a limit to the maximum number of do jumps allowed in a single mission. This is to limit recursion. If they were all nested for example it would take the code a long time to figure out where it is supposed to go next.

1 Like

Thats it! Seems I overread it in the docs. Its 15 times maximum of DO_JUMPs.
Thanks a lot!

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