diff --git a/config/VehicleConfigurations.xml b/config/VehicleConfigurations.xml
index 2d1e7c037..4f8e3cfa5 100644
--- a/config/VehicleConfigurations.xml
+++ b/config/VehicleConfigurations.xml
@@ -485,9 +485,13 @@ You can define the following custom settings:
         turnRadius = "10"
 	/>
     <Vehicle name="lm845.xml"
-    turnRadius = "10"
-    fixWheelLoaderDirectionNodeByMovingToolIx = "1"
-    articulatedAxisReverseNodeInverted = "true"
+        articulatedAxisReverseNodeInverted = "true"
+        turnRadius = "10"
+        fixWheelLoaderDirectionNodeByMovingToolIx = "1"
+    />
+    <Vehicle name="wheelLoader435S.xml"
+        fixWheelLoaderDirectionNodeByMovingToolIx = "1"
+        turnRadius = "10"
     />
 
     <!--Vermeer-->
diff --git a/scripts/ai/controllers/ShovelController.lua b/scripts/ai/controllers/ShovelController.lua
index 7c40c3e6d..2b336d34d 100644
--- a/scripts/ai/controllers/ShovelController.lua
+++ b/scripts/ai/controllers/ShovelController.lua
@@ -189,7 +189,7 @@ function ShovelController:calculateMinimalUnloadingHeight(triggerNode)
     local maxHeightObjectHit = 0
     for i=self.MIN_TRIGGER_HEIGHT, self.MAX_TRIGGER_HEIGHT, 0.1 do 
         self.objectWasHit = false
-        raycastAll(sx, terrainHeight + i, sz,  dx, 0, dz, length
+        raycastAll(sx, terrainHeight + i, sz,  dx, 0, dz, length,
             "calculateMinimalUnloadingHeightRaycastCallback", self, 
             self.TRIGGER_HEIGHT_RAYCAST_COLLISION_MASK)
         if self.objectWasHit then 
diff --git a/scripts/gui/CoursePlot.lua b/scripts/gui/CoursePlot.lua
index 5c2a1953e..8fd08ad64 100644
--- a/scripts/gui/CoursePlot.lua
+++ b/scripts/gui/CoursePlot.lua
@@ -23,7 +23,7 @@ CoursePlot = CpObject()
 -- x = 0, y = 0 is the bottom left corner of the screen, terrainSize is in meters
 function CoursePlot:init()
 	self.lineThickness = 2 / g_screenHeight -- 2 pixels
-	self.arrowThickness = 3 / g_screenHeight -- 3 pixels
+	self.arrowThickness = 10 / g_screenHeight -- 10 pixels
 	-- the normal FS22 blue
 	self.color = {CpGuiUtil.getNormalizedRgb(42, 193, 237)}
 	-- a lighter shade of the same color
@@ -173,7 +173,7 @@ end
 ---@param a number|nil
 ---@param isHudMap boolean|nil
 function CoursePlot:drawArrow(map, x, z, rotation, r, g, b, a, isHudMap)
-	local zoom = isHudMap and map.layout:getIconZoom() or map.fullScreenLayout:getIconZoom()
+	local zoom = map.layout:getIconZoom() * map.layout:getIconZoom()
 	if isHudMap and map.state == IngameMap.STATE_MAP then 
 		--- When the hud is completely open, then the signs need to be scaled down.
 		zoom = zoom * 0.5
@@ -226,7 +226,7 @@ function CoursePlot:draw(map, isHudMap)
 	-- render the start and stop signs
 
 	local signSizeMeters = 0.02
-	local zoom = isHudMap and map.layout:getIconZoom() or map.fullScreenLayout:getIconZoom()
+	local zoom = map.layout:getIconZoom() 
 	if isHudMap and map.state == IngameMap.STATE_MAP then 
 		--- When the hud is completely open, then the signs need to be scaled down.
 		zoom = zoom * 0.5
diff --git a/scripts/specializations/CpShovelPositions.lua b/scripts/specializations/CpShovelPositions.lua
index 6de630f9f..170776c7c 100644
--- a/scripts/specializations/CpShovelPositions.lua
+++ b/scripts/specializations/CpShovelPositions.lua
@@ -417,7 +417,7 @@ function CpShovelPositions:setShovelPosition(dt, shovelLimits, armLimits, height
 		sy = yMin + 0.01
 		ey = yMin + 0.01
 	end
-	local hasIntersection, i1z, i1y, i2z, i2y = MathUtil.getCircleLineIntersection(
+	local hasIntersection, i1z, i1y, i2z, i2y = CpMathUtil.getCircleLineIntersection(
 		az, ay, radiusArmToolToShovelTool,
 		sz, sy, ez, ey)
 
@@ -500,9 +500,10 @@ function CpShovelPositions:setShovelPosition(dt, shovelLimits, armLimits, height
 				name = "shovelY", value = shovelY})
 			table.insert(debugData, {
 				name = "dirRot", value = math.deg(oldRotRelativeArmRot) })
-			table.insert(debugData, {
-				name = "distAlpha", value = MathUtil.vector2Length(i1z - tz, i1y - ty) })
-
+			if i1z ~= nil and i1y ~= nil then
+				table.insert(debugData, {
+					name = "distAlpha", value = MathUtil.vector2Length(i1z - tz, i1y - ty) })
+			end
 			table.insert(debugData, {
 				value = "",
 				name = "",
diff --git a/scripts/util/CpMathUtil.lua b/scripts/util/CpMathUtil.lua
index 7183bc410..ba1dc341f 100644
--- a/scripts/util/CpMathUtil.lua
+++ b/scripts/util/CpMathUtil.lua
@@ -319,4 +319,28 @@ end
 --- Divide a by b, but instead of throwing an error when b is 0, return math.huge
 function CpMathUtil.divide(a, b)
 	return b == 0 and math.huge or a / b
-end
\ No newline at end of file
+end
+
+--- Legancy function form LS22
+function CpMathUtil.getCircleLineIntersection(circleX, circleZ, radius, lineStartX, lineStartZ, lineEndX, lineEndZ)
+	local p3x = lineStartX - circleX
+	local p3z = lineStartZ - circleZ
+	local p4x = lineEndX - circleX
+	local p4z = lineEndZ - circleZ
+	local m = (p4z - p3z) / (p4x - p3x)
+	local b = p3z - m * p3x
+	local dis = math.pow(radius, 2) * math.pow(m, 2) + math.pow(radius, 2) - math.pow(b, 2)
+
+	if dis < 0 then
+		return false
+	else
+		local t1 = (-m * b + math.sqrt(dis)) / (math.pow(m, 2) + 1)
+		local t2 = (-m * b - math.sqrt(dis)) / (math.pow(m, 2) + 1)
+		local intersect1X = t1 + circleX
+		local intersect1Z = m * t1 + b + circleZ
+		local intersect2X = t2 + circleX
+		local intersect2Z = m * t2 + b + circleZ
+
+		return true, intersect1X, intersect1Z, intersect2X, intersect2Z
+	end
+end