diff --git a/include/core.h b/include/core.h
index 94252f8..b9f33f7 100644
--- a/include/core.h
+++ b/include/core.h
@@ -1037,7 +1037,7 @@ private:
    inline bool IsOnFloor (void) { return (pev->flags & (FL_ONGROUND | FL_PARTIALGROUND)) != 0; }
    inline bool IsInWater (void) { return pev->waterlevel >= 2; }
 
-   inline float GetWalkSpeed (void) { return static_cast <float> ((static_cast <int> (pev->maxspeed) * 0.5) + (static_cast <int> (pev->maxspeed) / 50)) - 18; }
+   float GetWalkSpeed (void);
    
    bool ItemIsVisible (const Vector &dest, char *itemName);
    bool LastEnemyShootable (void);
diff --git a/source/basecode.cpp b/source/basecode.cpp
index 1f9f4a5..f40e8a0 100644
--- a/source/basecode.cpp
+++ b/source/basecode.cpp
@@ -3392,7 +3392,7 @@ void Bot::RunTask (void)
             m_moveSpeed = m_minSpeed;
       }
 
-      if ((yb_walking_allowed.GetBool () && mp_footsteps.GetBool ()) && m_difficulty >= 2 && !(m_aimFlags & AIM_ENEMY) && (m_heardSoundTime + 13.0 >= GetWorldTime () || (m_states & (STATE_HEARING_ENEMY | STATE_SUSPECT_ENEMY))) && GetNearbyEnemiesNearPosition (pev->origin, 1024) >= 1 && !(m_currentTravelFlags & PATHFLAG_JUMP) && !(pev->button & IN_DUCK) && !(pev->flags & FL_DUCKING) && !yb_jasonmode.GetBool () && !g_bombPlanted)
+      if ((yb_walking_allowed.GetBool () && mp_footsteps.GetBool ()) && m_difficulty >= 2 && !(m_aimFlags & AIM_ENEMY) && (m_heardSoundTime + 13.0 >= GetWorldTime () || (m_states & (STATE_HEARING_ENEMY | STATE_SUSPECT_ENEMY))) && GetNearbyEnemiesNearPosition (pev->origin, 1024) >= 1 && !yb_jasonmode.GetBool () && !g_bombPlanted)
          m_moveSpeed = GetWalkSpeed ();
 
       // bot hasn't seen anything in a long time and is asking his teammates to report in
@@ -3508,7 +3508,7 @@ void Bot::RunTask (void)
                   pev->button |= IN_DUCK;
             }
 
-            if ((m_lastEnemyOrigin - pev->origin).GetLength () < 512.0 && !(pev->flags & FL_DUCKING))
+            if ((m_lastEnemyOrigin - pev->origin).GetLength () < 512.0)
                m_moveSpeed = GetWalkSpeed ();
          }
       }
@@ -6136,3 +6136,11 @@ bool Bot::IsBombDefusing (const Vector &bombOrigin)
    }
    return defusingInProgress;
 }
+
+float Bot::GetWalkSpeed (void)
+{
+   if ((pev->flags & FL_DUCKING) || (pev->button & IN_DUCK) || (pev->oldbuttons & IN_DUCK) || (m_currentTravelFlags & PATHFLAG_JUMP) || (m_currentPath != NULL && m_currentPath->flags & FLAG_LADDER) || IsOnLadder () || IsInWater ())
+      return pev->maxspeed;
+
+   return static_cast <float> ((static_cast <int> (pev->maxspeed) * 0.5f) + (static_cast <int> (pev->maxspeed) / 50.0f)) - 18.0f;
+}
\ No newline at end of file
diff --git a/source/navigate.cpp b/source/navigate.cpp
index d1062ae..08082e6 100644
--- a/source/navigate.cpp
+++ b/source/navigate.cpp
@@ -313,6 +313,8 @@ void Bot::ResetCollideState (void)
    m_collisionState = COLLISION_NOTDECICED;
    m_collStateIndex = 0;
 
+   m_isStuck = false;
+
    for (int i = 0; i < MAX_COLLIDE_MOVES; i++)
       m_collideMoves[i] = 0;
 }
@@ -732,6 +734,7 @@ bool Bot::DoWaypointNav (void)
    // special lift handling (code merged from podbotmm)
    if (m_currentPath->flags & FLAG_LIFT)
    {
+
       bool liftClosedDoorExists = false;
 
       // update waypoint time set
@@ -796,8 +799,13 @@ bool Bot::DoWaypointNav (void)
          // check if we enough to destination
          if ((pev->origin - m_destOrigin).GetLengthSquared () < 225)
          {
-            m_moveSpeed = 0.0;
-            m_strafeSpeed = 0.0;
+            m_moveSpeed = 0.0f;
+            m_strafeSpeed = 0.0f;
+
+            m_navTimeset = GetWorldTime ();
+            m_aimFlags |= AIM_NAVPOINT;
+
+            ResetCollideState ();
 
             // need to wait our following teammate ?
             bool needWaitForTeammate = false;
@@ -866,8 +874,13 @@ bool Bot::DoWaypointNav (void)
 
             if ((pev->origin - m_destOrigin).GetLengthSquared () < 225)
             {
-               m_moveSpeed = 0.0;
-               m_strafeSpeed = 0.0;
+               m_moveSpeed = 0.0f;
+               m_strafeSpeed = 0.0f;
+
+               m_navTimeset = GetWorldTime ();
+               m_aimFlags |= AIM_NAVPOINT;
+
+               ResetCollideState ();
             }
          }
 
@@ -904,8 +917,13 @@ bool Bot::DoWaypointNav (void)
 
             if ((pev->origin - m_destOrigin).GetLengthSquared () < 225)
             {
-               m_moveSpeed = 0.0;
-               m_strafeSpeed = 0.0;
+               m_moveSpeed = 0.0f;
+               m_strafeSpeed = 0.0f;
+
+               m_navTimeset = GetWorldTime ();
+               m_aimFlags |= AIM_NAVPOINT;
+
+               ResetCollideState ();
             }
          }
       }
@@ -917,8 +935,13 @@ bool Bot::DoWaypointNav (void)
 
          if ((pev->origin - m_destOrigin).GetLengthSquared () < 225)
          {
-            m_moveSpeed = 0.0;
-            m_strafeSpeed = 0.0;
+            m_moveSpeed = 0.0f;
+            m_strafeSpeed = 0.0f;
+
+            m_navTimeset = GetWorldTime ();
+            m_aimFlags |= AIM_NAVPOINT;
+
+            ResetCollideState ();
          }
       }
 
@@ -936,11 +959,16 @@ bool Bot::DoWaypointNav (void)
 
             if ((pev->origin - m_destOrigin).GetLengthSquared () < 225)
             {
-               m_moveSpeed = 0.0;
-               m_strafeSpeed = 0.0;
+               m_moveSpeed = 0.0f;
+               m_strafeSpeed = 0.0f;
+
+               m_navTimeset = GetWorldTime ();
+               m_aimFlags |= AIM_NAVPOINT;
+
+               ResetCollideState ();
             }
          }
-         else
+         else if (!IsEntityNull(m_liftEntity))
          {
             edict_t *button = FindNearestButton (STRING (m_liftEntity->v.targetname));
 
@@ -1008,8 +1036,13 @@ bool Bot::DoWaypointNav (void)
 
          if ((pev->origin - m_destOrigin).GetLengthSquared () < 100)
          {
-            m_moveSpeed = 0.0;
-            m_strafeSpeed = 0.0;
+            m_moveSpeed = 0.0f;
+            m_strafeSpeed = 0.0f;
+
+            m_navTimeset = GetWorldTime ();
+            m_aimFlags |= AIM_NAVPOINT;
+
+            ResetCollideState ();
          }
       }
 
@@ -1851,7 +1884,11 @@ bool Bot::FindWaypoint (void)
    for (i = 0; i < g_numWaypoints; i++)
    {
       // ignore current waypoint and previous recent waypoints...
+#if 0
       if (i == m_currentWaypointIndex || i == m_prevWptIndex[0] || i == m_prevWptIndex[1] || i == m_prevWptIndex[2] || i == m_prevWptIndex[3] || i == m_prevWptIndex[4])
+#else
+      if (i == m_currentWaypointIndex)
+#endif
          continue;
 
       if ((g_mapType & MAP_CS) && HasHostage () && (g_waypoint->GetPath (i)->flags & FLAG_NOHOSTAGE))