diff --git a/Arduino/PS_BLE_ShotDetection/PS_BLE_ShotDetection.ino b/Arduino/PS_BLE_ShotDetection/PS_BLE_ShotDetection.ino
index 943ac46..1102d60 100644
--- a/Arduino/PS_BLE_ShotDetection/PS_BLE_ShotDetection.ino
+++ b/Arduino/PS_BLE_ShotDetection/PS_BLE_ShotDetection.ino
@@ -574,9 +574,10 @@ void loop() {
   sendDebugData(accelMag, gyroMag, audioLevel);
   printDebugSerial(accelMag, gyroMag, audioLevel);
 
-  // ─── IMU BLE 10 Hz (debug uniquement) ───
-  // En production (debugMode OFF), pas d'envoi IMU → charge BLE réduite pour Unreal
-  if (debugMode != DEBUG_OFF && now-lastSend>=100) {
+  // ─── IMU BLE 10 Hz ───
+  // TODO_TEST : envoi IMU toujours actif pour test (Pico Motion Tracker en production)
+  // REMETTRE : if (debugMode != DEBUG_OFF && now-lastSend>=100) {
+  if (now-lastSend>=100) {
     lastSend=now;
     float dt=(now-lastUpdate)/1000.0f; lastUpdate=now;
     roll+=gx*dt; pitch+=gy*dt; yaw+=gz*dt;
diff --git a/Unreal/PS_BLE_Tracker.uproject b/Unreal/PS_BLE_Tracker.uproject
index d680761..1997abe 100644
--- a/Unreal/PS_BLE_Tracker.uproject
+++ b/Unreal/PS_BLE_Tracker.uproject
@@ -18,6 +18,10 @@
 				"Editor"
 			]
 		},
+		{
+			"Name": "WinBluetoothLE",
+			"Enabled": false
+		},
 		{
 			"Name": "PS_Win_BLE",
 			"Enabled": true
diff --git a/Unreal/Plugins/PS_Win_BLE/Source/PS_Win_BLE/Private/PS_BLEModule.cpp b/Unreal/Plugins/PS_Win_BLE/Source/PS_Win_BLE/Private/PS_BLEModule.cpp
index c5bab2b..8ee2953 100644
--- a/Unreal/Plugins/PS_Win_BLE/Source/PS_Win_BLE/Private/PS_BLEModule.cpp
+++ b/Unreal/Plugins/PS_Win_BLE/Source/PS_Win_BLE/Private/PS_BLEModule.cpp
@@ -5,6 +5,7 @@
 #include "PS_BLEDevice.h"
 #include "Async/Async.h"
 #include "Misc/MessageDialog.h"
+#include "Misc/CoreDelegates.h"
 #include "Modules/ModuleManager.h"
 
 // ─── WinRT includes (Windows only) ───────────────────────────────────────────
@@ -92,6 +93,19 @@ void UPS_BLE_Module::StartupModule()
 	LocalBLEManager = NewObject<UPS_BLE_Manager>();
 	LocalBLEManager->AddToRoot(); // prevent GC
 	LocalBLEManager->AttachModule(this);
+
+	// Cleanup UObjects before Unreal's UObject array is destroyed.
+	// ShutdownModule() is called too late (UObjectArray already partially torn down)
+	// → we do RemoveFromRoot here, during pre-exit, which is still safe.
+	FCoreDelegates::OnPreExit.AddLambda([this]()
+	{
+		if (LocalBLEManager)
+		{
+			LocalBLEManager->DisconnectAll();
+			LocalBLEManager->RemoveFromRoot();
+			LocalBLEManager = nullptr;
+		}
+	});
 #else
 	FMessageDialog::Open(EAppMsgType::Ok,
 		LOCTEXT("PS_Win_BLE_Platform", "PS_Win_BLE: BLE is only supported on Windows 64-bit."));
@@ -103,12 +117,10 @@ void UPS_BLE_Module::ShutdownModule()
 #if PLATFORM_WINDOWS
 	ScannerCleanup();
 
-	if (LocalBLEManager)
-	{
-		LocalBLEManager->DisconnectAll();
-		LocalBLEManager->RemoveFromRoot();
-		LocalBLEManager = nullptr;
-	}
+	// NOTE: LocalBLEManager cleanup (DisconnectAll + RemoveFromRoot) is handled
+	// in the OnPreExit delegate registered in StartupModule, because ShutdownModule
+	// is called after the UObject array has started to be destroyed (causes Index >= 0 crash).
+	LocalBLEManager = nullptr;
 
 	if (bWinRTCoInitialized)
 	{