Hi,
Regarding the arming sequence:
1) There is currently no support to arm/unarm in different corners.
2) The delay to arm/disarm is currently still fixed to AUTOPILOT_MOTOR_ON_TIME (40).
This value represents the number of received rc frames during which the arming condition must be true. So with a usual rc receiver freq of ~40Hz you get ~1s.
In master I
changed this define to MOTOR_ARMING_DELAY and made it configurable. To change it to 0.5s add to your airframe file (to any section without a prefix, e.g. misc or autopilot or to the firmware section):
<define name="MOTOR_ARMING_DELAY" value="20"/>
(As Eduardo already pointed out the ACTUATORS_START_DELAY is used to have delay until the first commands are sent to the motor controllers (mkk, skiron or asctec).)
Regarding booz_cam:
3) In master the rotorcraft_cam.xml module should work with both LPC21xx and STM32.
Eduardo, if i see that correctly your changes are basically a hack and also will only work if you use PWM motor controllers and not with MKK or asctec controllers.
It also would make much more sense to implement the cam stablization mode in master using the state interface.
Or even better refactor this and create generic stabilization functions (that also take the camera mounting orientation into account) which can then be used by the fixedwing and rotorcraft code.
Cheers, Felix