Use your most comfortable setup, where you can gain as much height and power as you need. I just prefer to take a short step into it. Make sure you to bend down a little bit before you jump and then you push up all the way through your toes. I like to swing my right arm behind my back for some additional lift. Swing your first leg up behind you as hard as you can.
Here’s the trick: Spot the ground in front of you and jump off. Focus HARD on driving your jumping foot into the spot where you’re focused at. This will make your legs switch in midair and make it possible for you to land safely. Bend your knee slightly when you land to absorb some of the impact. If you were high enough, that you completed the swiping motion in mid air, then you won’t need to.