diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index e01604f53d..ede4430942 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -27,7 +27,12 @@
 #define AP_MISSION_EEPROM_VERSION           0x65AE  // version number stored in first four bytes of eeprom.  increment this by one when eeprom format is changed
 #define AP_MISSION_EEPROM_COMMAND_SIZE      15      // size in bytes of all mission commands
 
-#define AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS 3       // only allow up to 3 do-jump commands (due to RAM limitations on the APM2)
+#if HAL_CPU_CLASS < HAL_CPU_CLASS_75
+ # define AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS 3     // allow up to 3 do-jump commands (due to RAM limitations) on the APM2
+#else
+ # define AP_MISSION_MAX_NUM_DO_JUMP_COMMANDS 15    // allow up to 15 do-jump commands all high speed CPUs
+#endif
+
 #define AP_MISSION_JUMP_REPEAT_FOREVER      -1      // when do-jump command's repeat count is -1 this means endless repeat
 
 #define AP_MISSION_CMD_ID_NONE              0       // mavlink cmd id of zero means invalid or missing command