To skip one WP or more use a trigger type "SWITCH" synchronized with the last WP you want to skip.
Lets say you have a unit moving through wps A, B, C, D and E. You have the trigger synced with wp D and the unit is currently trying to complete wp B. When the trigger activates, wps B, C, and D (A was already completed) will be marked as completed and unit will proceed to wp E, which may be a cycle type one near wp A, so the unit, in fact will return to its origin A.
Of course you may have several triggers type switch synced with several wps, so, upon different conditions different wps are jumped. I understand that in your example, the conditions may be set and unset several times, so your triggers should be marked for "continuous" checks.