diff --git a/src/api/java/baritone/api/Settings.java b/src/api/java/baritone/api/Settings.java
index f4fd7db14..a835ed73f 100644
--- a/src/api/java/baritone/api/Settings.java
+++ b/src/api/java/baritone/api/Settings.java
@@ -247,7 +247,9 @@ public class Settings {
     public Setting<Integer> movementTimeoutTicks = new Setting<>(100);
 
     /**
-     * Pathing ends after this amount of time, if a path has been found
+     * Pathing ends after this amount of time, but only if a path has been found
+     * <p>
+     * If no valid path (length above the minimum) has been found, pathing continues up until the failure timeout
      */
     public Setting<Long> primaryTimeoutMS = new Setting<>(500L);
 
@@ -257,7 +259,9 @@ public class Settings {
     public Setting<Long> failureTimeoutMS = new Setting<>(2000L);
 
     /**
-     * Planning ahead while executing a segment ends after this amount of time, if a path has been found
+     * Planning ahead while executing a segment ends after this amount of time, but only if a path has been found
+     * <p>
+     * If no valid path (length above the minimum) has been found, pathing continues up until the failure timeout
      */
     public Setting<Long> planAheadPrimaryTimeoutMS = new Setting<>(4000L);
 
diff --git a/src/api/java/baritone/api/pathing/goals/GoalComposite.java b/src/api/java/baritone/api/pathing/goals/GoalComposite.java
index 2926b8528..415f74e56 100644
--- a/src/api/java/baritone/api/pathing/goals/GoalComposite.java
+++ b/src/api/java/baritone/api/pathing/goals/GoalComposite.java
@@ -17,10 +17,7 @@
 
 package baritone.api.pathing.goals;
 
-import net.minecraft.util.math.BlockPos;
-
 import java.util.Arrays;
-import java.util.Collection;
 
 /**
  * A composite of many goals, any one of which satisfies the composite.
@@ -40,14 +37,6 @@ public class GoalComposite implements Goal {
         this.goals = goals;
     }
 
-    public GoalComposite(BlockPos... blocks) {
-        this(Arrays.asList(blocks));
-    }
-
-    public GoalComposite(Collection<BlockPos> blocks) {
-        this(blocks.stream().map(GoalBlock::new).toArray(Goal[]::new));
-    }
-
     @Override
     public boolean isInGoal(int x, int y, int z) {
         for (Goal goal : goals) {
diff --git a/src/api/java/baritone/api/pathing/goals/GoalGetToBlock.java b/src/api/java/baritone/api/pathing/goals/GoalGetToBlock.java
index 959b6fcc6..c4856cdd6 100644
--- a/src/api/java/baritone/api/pathing/goals/GoalGetToBlock.java
+++ b/src/api/java/baritone/api/pathing/goals/GoalGetToBlock.java
@@ -48,10 +48,7 @@ public class GoalGetToBlock implements Goal, IGoalRenderPos {
         int xDiff = x - this.x;
         int yDiff = y - this.y;
         int zDiff = z - this.z;
-        if (yDiff < 0) {
-            yDiff++;
-        }
-        return Math.abs(xDiff) + Math.abs(yDiff) + Math.abs(zDiff) <= 1;
+        return Math.abs(xDiff) + Math.abs(yDiff < 0 ? yDiff + 1 : yDiff) + Math.abs(zDiff) <= 1;
     }
 
     @Override
@@ -59,7 +56,7 @@ public class GoalGetToBlock implements Goal, IGoalRenderPos {
         int xDiff = x - this.x;
         int yDiff = y - this.y;
         int zDiff = z - this.z;
-        return GoalBlock.calculate(xDiff, yDiff, zDiff);
+        return GoalBlock.calculate(xDiff, yDiff < 0 ? yDiff + 1 : yDiff, zDiff);
     }
 
     @Override
diff --git a/src/api/java/baritone/api/pathing/goals/GoalTwoBlocks.java b/src/api/java/baritone/api/pathing/goals/GoalTwoBlocks.java
index 4ed1bf5ee..b1dc07a1d 100644
--- a/src/api/java/baritone/api/pathing/goals/GoalTwoBlocks.java
+++ b/src/api/java/baritone/api/pathing/goals/GoalTwoBlocks.java
@@ -63,10 +63,7 @@ public class GoalTwoBlocks implements Goal, IGoalRenderPos {
         int xDiff = x - this.x;
         int yDiff = y - this.y;
         int zDiff = z - this.z;
-        if (yDiff < 0) {
-            yDiff++;
-        }
-        return GoalBlock.calculate(xDiff, yDiff, zDiff);
+        return GoalBlock.calculate(xDiff, yDiff < 0 ? yDiff + 1 : yDiff, zDiff);
     }
 
     @Override
diff --git a/src/main/java/baritone/cache/ChunkPacker.java b/src/main/java/baritone/cache/ChunkPacker.java
index 0627ebb4c..cd072bb6f 100644
--- a/src/main/java/baritone/cache/ChunkPacker.java
+++ b/src/main/java/baritone/cache/ChunkPacker.java
@@ -92,7 +92,8 @@ public final class ChunkPacker {
 
         for (int z = 0; z < 16; z++) {
             // @formatter:off
-            https://www.ibm.com/developerworks/library/j-perry-writing-good-java-code/index.html
+            https:
+//www.ibm.com/developerworks/library/j-perry-writing-good-java-code/index.html
             // @formatter:on
             for (int x = 0; x < 16; x++) {
                 for (int y = 255; y >= 0; y--) {
@@ -124,7 +125,7 @@ public final class ChunkPacker {
 
     private static PathingBlockType getPathingBlockType(IBlockState state) {
         Block block = state.getBlock();
-        if (block.equals(Blocks.WATER) && !MovementHelper.isFlowing(state)) {
+        if (block == Blocks.WATER && !MovementHelper.isFlowing(state)) {
             // only water source blocks are plausibly usable, flowing water should be avoid
             return PathingBlockType.WATER;
         }
diff --git a/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java b/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java
index 6d9ad67ed..f2dcf4b19 100644
--- a/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java
+++ b/src/main/java/baritone/pathing/calc/AbstractNodeCostSearch.java
@@ -88,7 +88,7 @@ public abstract class AbstractNodeCostSearch implements IPathFinder {
         if (isFinished) {
             throw new IllegalStateException("Path Finder is currently in use, and cannot be reused!");
         }
-        this.cancelRequested = false;
+        cancelRequested = false;
         try {
             IPath path = calculate0(primaryTimeout, failureTimeout).map(IPath::postProcess).orElse(null);
             isFinished = true;
diff --git a/src/main/java/baritone/utils/pathing/SegmentedCalculator.java b/src/main/java/baritone/utils/pathing/SegmentedCalculator.java
index a0b8e27c1..75dd0282a 100644
--- a/src/main/java/baritone/utils/pathing/SegmentedCalculator.java
+++ b/src/main/java/baritone/utils/pathing/SegmentedCalculator.java
@@ -72,7 +72,7 @@ public class SegmentedCalculator {
         return search.calculate(Baritone.settings().primaryTimeoutMS.get(), Baritone.settings().failureTimeoutMS.get()); // use normal time settings, not the plan ahead settings, so as to not overwhelm the computer
     }
 
-    public static void calculateSegmentsThreaded(BetterBlockPos start, Goal goal, CalculationContext context, Consumer<Optional<IPath>> onCompletion) {
+    public static void calculateSegmentsThreaded(BetterBlockPos start, Goal goal, CalculationContext context, Consumer<IPath> onCompletion, Runnable onFailure) {
         Baritone.getExecutor().execute(() -> {
             Optional<IPath> result;
             try {
@@ -81,7 +81,11 @@ public class SegmentedCalculator {
                 ex.printStackTrace();
                 result = Optional.empty();
             }
-            onCompletion.accept(result);
+            if (result.isPresent()) {
+                onCompletion.accept(result.get());
+            } else {
+                onFailure.run();
+            }
         });
     }
 }