diff --git a/documentation/doc_config_HL.pdf b/documentation/doc_config_HL.pdf
index 6a3776fa..6ea8a9ea 100644
Binary files a/documentation/doc_config_HL.pdf and b/documentation/doc_config_HL.pdf differ
diff --git a/pc/src/Homologation.java b/pc/src/Homologation.java
index 230065e8..925e289e 100644
--- a/pc/src/Homologation.java
+++ b/pc/src/Homologation.java
@@ -116,7 +116,7 @@ public static void main(String[] args)
 			
 			KeyPathCache k = new KeyPathCache(state);
 			k.shoot = false;
-			k.s = sm.getScripts().get("MINERAI_CRATERE_HAUT_GAUCHE");
+			k.s = sm.getScripts().get("MINERAI_CRATERE_HAUT_DROITE");
 			try {
 				path.prepareNewPathToScript(k);
 				path.sendPreparedPath();
diff --git a/pc/src/capteurs/CapteursProcess.java b/pc/src/capteurs/CapteursProcess.java
index 90714869..6a2f4d60 100644
--- a/pc/src/capteurs/CapteursProcess.java
+++ b/pc/src/capteurs/CapteursProcess.java
@@ -65,6 +65,7 @@ public class CapteursProcess implements Service, LowPFClass, HighPFClass
 	private Capteur[] capteurs;
 	private double imprecisionMaxPos;
 	private double imprecisionMaxAngle;
+	private boolean debugCapteurs;
 	
 	private long dateLastMesureCorrection = -1;
 	private long peremptionCorrection;
@@ -90,6 +91,7 @@ public CapteursProcess(Container container, Log log, GridSpace gridspace, Table
 		bufferCorrection = new Cinematique[config.getInt(ConfigInfo.TAILLE_BUFFER_RECALAGE)];
 		peremptionCorrection = config.getInt(ConfigInfo.PEREMPTION_CORRECTION);
 		enableCorrection = config.getBoolean(ConfigInfo.ENABLE_CORRECTION);
+		debugCapteurs = config.getBoolean(ConfigInfo.DEBUG_CAPTEURS);
 		
 		int demieLargeurNonDeploye = config.getInt(ConfigInfo.LARGEUR_NON_DEPLOYE)/2;
 		int demieLongueurArriere = config.getInt(ConfigInfo.DEMI_LONGUEUR_NON_DEPLOYE_ARRIERE);
@@ -183,6 +185,9 @@ public void updateObstaclesMobiles(SensorsData data)
 			if(positionEnnemi.isHorsTable())
 				continue; // hors table
 			
+			if(debugCapteurs)
+				log.debug("Ajout d'un obstacle d'ennemi en "+positionEnnemi);
+			
 			ObstacleProximity o = gridspace.addObstacleAndRemoveNearbyObstacles(positionEnnemi);
 			
 			/**
diff --git a/pc/src/config/ConfigInfo.java b/pc/src/config/ConfigInfo.java
index f8c8052d..6958cdcd 100644
--- a/pc/src/config/ConfigInfo.java
+++ b/pc/src/config/ConfigInfo.java
@@ -116,6 +116,7 @@ public enum ConfigInfo {
 	 */
 	DEBUG_SERIE_TRAME(false), // debug verbeux sur le contenu des trames
 	DEBUG_SERIE(false), // debug sur la série
+	DEBUG_CAPTEURS(false), // debug verbeux sur les capteurs
 	GENERATE_DEPENDENCY_GRAPH(false), // génère le graphe des dépendances
 	
 	/**
diff --git a/pc/src/pathfinding/chemin/CheminPathfinding.java b/pc/src/pathfinding/chemin/CheminPathfinding.java
index bc518843..0239c24f 100644
--- a/pc/src/pathfinding/chemin/CheminPathfinding.java
+++ b/pc/src/pathfinding/chemin/CheminPathfinding.java
@@ -63,7 +63,7 @@ public class CheminPathfinding implements Service, Printable, HighPFClass, Chemi
 	private int lastValidIndex = -1; // l'indice du dernier index (-1 si aucun ne l'est, Integer.MAX_VALUE si tous le sont)
 	private boolean uptodate = true; // le chemin est-il complet
 	private int margeNecessaire, margeInitiale;
-	private boolean graphic;
+	private boolean graphic, debugCapteurs;
 	
 	public CheminPathfinding(Log log, BufferOutgoingOrder out, ObstaclesIteratorPresent iterator, PrintBufferInterface buffer, Config config)
 	{
@@ -79,6 +79,7 @@ public CheminPathfinding(Log log, BufferOutgoingOrder out, ObstaclesIteratorPres
 		margeNecessaire = config.getInt(ConfigInfo.PF_MARGE_NECESSAIRE);
 		margeInitiale = config.getInt(ConfigInfo.PF_MARGE_INITIALE);
 		graphic = config.getBoolean(ConfigInfo.GRAPHIC_TRAJECTORY_FINAL);
+		debugCapteurs = config.getBoolean(ConfigInfo.DEBUG_CAPTEURS);
 		if(graphic)
 			buffer.add(this);
 
@@ -121,6 +122,8 @@ public synchronized void checkColliding()
 	{
 		if(isColliding())
 		{
+			if(debugCapteurs)
+				log.warning("Un ennemi est sur le chemin : replanification nécessaire");
 			uptodate = false;
 			notify();
 		}
diff --git a/pc/src/threads/ThreadUpdatePathfinding.java b/pc/src/threads/ThreadUpdatePathfinding.java
index 2a395d62..e7d6069b 100644
--- a/pc/src/threads/ThreadUpdatePathfinding.java
+++ b/pc/src/threads/ThreadUpdatePathfinding.java
@@ -17,6 +17,8 @@
 
 package threads;
 
+import config.Config;
+import config.ConfigInfo;
 import container.dependances.HighPFClass;
 import exceptions.PathfindingException;
 import pathfinding.astar.AStarCourbe;
@@ -34,12 +36,14 @@ public class ThreadUpdatePathfinding extends ThreadService implements HighPFClas
 	protected Log log;
 	private AStarCourbe pathfinding;
 	private CheminPathfinding chemin;
+	private boolean debugCapteurs;
 
-	public ThreadUpdatePathfinding(Log log, AStarCourbe pathfinding, CheminPathfinding chemin)
+	public ThreadUpdatePathfinding(Log log, AStarCourbe pathfinding, CheminPathfinding chemin, Config config)
 	{
 		this.log = log;
 		this.pathfinding = pathfinding;
 		this.chemin = chemin;
+		debugCapteurs = config.getBoolean(ConfigInfo.DEBUG_CAPTEURS);
 	}
 
 	@Override
@@ -53,7 +57,9 @@ public void run()
 				if(chemin.isUptodate())
 					chemin.wait();
 				try {
-					pathfinding.updatePath(false);
+					if(debugCapteurs)
+						log.debug("Mise à jour du chemin");
+					pathfinding.updatePath(true);
 				} catch (PathfindingException e) {
 					e.printStackTrace();
 				}
diff --git a/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java b/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java
index fb23064c..c551b8a8 100644
--- a/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java
+++ b/pc/src/threads/serie/ThreadSerialInputCoucheOrdre.java
@@ -54,7 +54,7 @@ public class ThreadSerialInputCoucheOrdre extends ThreadService implements Seria
 	private Container container;
 	
 	private boolean capteursOn = false;
-	private boolean debugSerie;
+	private boolean debugSerie, debugCapteurs;
 	private int nbCapteurs;
 	
 	public ThreadSerialInputCoucheOrdre(Log log, Config config, BufferIncomingOrder serie, SensorsDataBuffer buffer, RobotReal robot, CheminPathfinding chemin, Container container)
@@ -67,6 +67,7 @@ public ThreadSerialInputCoucheOrdre(Log log, Config config, BufferIncomingOrder
 		this.robot = robot;
 		this.chemin = chemin;
 		debugSerie = config.getBoolean(ConfigInfo.DEBUG_SERIE);
+		debugCapteurs = config.getBoolean(ConfigInfo.DEBUG_CAPTEURS);
 	}
 
 	@Override
@@ -153,7 +154,7 @@ else if(paquet.origine == OutOrder.START_STREAM_ALL)
 								for(int i = 0; i < nbCapteurs; i++)
 								{
 									mesures[i] = data[8+i];
-									if(debugSerie)
+									if(debugSerie || debugCapteurs)
 										log.debug("Capteur "+CapteursRobot.values[i].name()+" : "+mesures[i]);
 								}
 								if(capteursOn)