diff --git a/scripts/ai/turns/AITurn.lua b/scripts/ai/turns/AITurn.lua
index db34c5b2c..c0ef15de8 100644
--- a/scripts/ai/turns/AITurn.lua
+++ b/scripts/ai/turns/AITurn.lua
@@ -108,6 +108,9 @@ end
 function AITurn:onBlocked()
     -- unregister here before the AITurn object is destructed
     self.proximityController:unregisterBlockingObjectListener()
+    -- restore onWaypoint* listeners before giving back control to the drive strategy, otherwise they'll be lost
+    -- when the recovery turn is instantiated and registers its own listeners
+    self.ppc:restorePreviouslyRegisteredListeners()
     self.driveStrategy:startRecoveryTurn(1 * self.turningRadius)
 end
 
diff --git a/scripts/field/FieldScanner.lua b/scripts/field/FieldScanner.lua
index 2260adea5..706afcc5f 100644
--- a/scripts/field/FieldScanner.lua
+++ b/scripts/field/FieldScanner.lua
@@ -177,7 +177,7 @@ function FieldScanner:findContour(x, z)
         else
             if not done and not lost then
                 self:debug('%d. try, edge not found, we may have hit an island or corner, reset/rotate the probe a bit and retry', i)
-                setRotation(probe, 0, i * math.pi / 7, 0)
+                setRotation(probe, 0, i * math.pi / 6, 0)
             elseif lost then
                 self:info('Could not trace field edge, limit search to field %d and retry', fieldId)
                 limitToFieldId = fieldId