ok

software/raspberry/superviseur-robot/tasks.cpp

@@ -656,9 +656,8 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
 void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     
     int killBatteryOk=0;
-    int cpt=1;
+    int cpt=0;
     Message * msgSend;
-    int err;
     
     while(1){
     
@@ -697,11 +696,13 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
             while (killBatteryOk==0) {
                 cpt++;
                 if(cpt==2){
+                    rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+                        robot.Write(MESSAGE_ROBOT_RELOAD_WD);
+                    rt_mutex_release(&mutex_robot);
                     cpt=0;
                 }
                 rt_task_wait_period(NULL);
                 rt_sem_v(&sem_askBattery);
-
                 rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
                 killBatteryOk=killBattery;
                 rt_mutex_release(&mutex_killBattery);