diff --git a/Esp32Cam/Esp32Cam.ino b/Esp32Cam/Esp32Cam.ino
index feadd95..b559891 100644
--- a/Esp32Cam/Esp32Cam.ino
+++ b/Esp32Cam/Esp32Cam.ino
@@ -10,7 +10,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   4
+#define FW_VERSION   5
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
diff --git a/Esp32Cam/app_httpd.cpp b/Esp32Cam/app_httpd.cpp
index 98a1c32..195164f 100644
--- a/Esp32Cam/app_httpd.cpp
+++ b/Esp32Cam/app_httpd.cpp
@@ -48,6 +48,22 @@ static const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %
 httpd_handle_t stream_httpd = NULL;
 httpd_handle_t camera_httpd = NULL;
 
+// ── Watchdog de motores ────────────────────────────────────────────
+// Si no llega ningún comando de movimiento en 400ms → para automáticamente
+static volatile bool    motorMoving   = false;
+static volatile int64_t lastMoveCmdUs = 0;
+#define WATCHDOG_US 400000LL
+
+static void motorWatchdogTask(void *) {
+  while (1) {
+    if (motorMoving && (esp_timer_get_time() - lastMoveCmdUs) > WATCHDOG_US) {
+      Serial.print("S\n");
+      motorMoving = false;
+    }
+    vTaskDelay(pdMS_TO_TICKS(80));
+  }
+}
+
 typedef struct {
   size_t size;   //number of values used for filtering
   size_t index;  //current value index
@@ -226,6 +242,8 @@ static esp_err_t stream_handler(httpd_req_t *req) {
 
   httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
   httpd_resp_set_hdr(req, "X-Framerate", "60");
+  httpd_resp_set_hdr(req, "X-Accel-Buffering", "no");   // desactiva buffering en nginx/Synology
+  httpd_resp_set_hdr(req, "Cache-Control", "no-cache, no-store");
 
 #if defined(LED_GPIO_NUM)
   isStreaming = true;
@@ -350,14 +368,21 @@ static esp_err_t cmd_handler(httpd_req_t *req) {
   }
   else {
     // Lo demás se manda al otro micro por UART
-    // si es número
     if (isdigit(value[0])) {
       Serial.printf("%d\n", val);
-    }
-    // si es texto
-    else {
+    } else {
       Serial.printf("%s\n", value);
     }
+    // Watchdog: registra comandos de movimiento
+    if (!strcmp(variable, "car")) {
+      char c = value[0];
+      if (c=='F' || c=='B' || c=='L' || c=='R') {
+        motorMoving   = true;
+        lastMoveCmdUs = esp_timer_get_time();
+      } else if (c == 'S') {
+        motorMoving = false;
+      }
+    }
   }
 
   if (res < 0) {
@@ -785,6 +810,8 @@ void startCameraServer() {
   if (httpd_start(&stream_httpd, &config) == ESP_OK) {
     httpd_register_uri_handler(stream_httpd, &stream_uri);
   }
+
+  xTaskCreate(motorWatchdogTask, "motorWD", 2048, NULL, 1, NULL);
 }
 
 void setupLedFlash() {
diff --git a/firmware/esp32cam/firmware.bin b/firmware/esp32cam/firmware.bin
index 417808b..c7e2c80 100644
Binary files a/firmware/esp32cam/firmware.bin and b/firmware/esp32cam/firmware.bin differ
diff --git a/firmware/esp32cam/version.txt b/firmware/esp32cam/version.txt
index bf0d87a..7813681 100644
--- a/firmware/esp32cam/version.txt
+++ b/firmware/esp32cam/version.txt
@@ -1 +1 @@
-4
\ No newline at end of file
+5
\ No newline at end of file