diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 770ed3c..ae5b94d 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -404,7 +404,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
             cout << "Command Start Robot with Watchdog Received" << endl << flush;
-            rt_sem_v(&sem_startRobotWithoutWatchdog);
+            rt_sem_v(&sem_startRobotWithWatchdog);
 
         } else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
             cout << "Command Search Arena Received" << endl << flush;
@@ -591,7 +591,9 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
         while (killBatteryOk==0) {
             cpt++;
             if(cpt==2){
+                rt_mutex_acquire(&mutex_robot, TM_INFINITE);
                 robot.Write(robot.ReloadWD());
+                rt_mutex_release(&mutex_robot);
                 cpt=0;
             }
             rt_task_wait_period(NULL);
@@ -656,8 +658,10 @@ void Tasks::AskBattery(void *arg){
         rt_mutex_acquire(&mutex_robot, TM_INFINITE);
         p_mess_answer_battery = robot.Write(robot.GetBattery());
         rt_mutex_release(&mutex_robot);
-        WriteInQueue(&q_messageToMon, p_mess_answer_battery);
-        cout << endl << flush;
+        if(p_mess_answer_battery->GetID()==MESSAGE_ROBOT_BATTERY_LEVEL){
+            WriteInQueue(&q_messageToMon, p_mess_answer_battery);
+            cout << endl << flush;
+        }
     }
 }