diff --git a/conf/modules/ins_chimu_uart.xml b/conf/modules/ins_chimu_uart.xml
index e7ded2d0df..94dc63594a 100644
--- a/conf/modules/ins_chimu_uart.xml
+++ b/conf/modules/ins_chimu_uart.xml
@@ -1,5 +1,11 @@
 <!DOCTYPE module SYSTEM "module.dtd">
 
+<!--
+
+For older CHIMU v1.0 you should define CHIMU_BIG_ENDIAN
+
+ -->
+
 <module name="ins">
   <!-- <depend conflict="ins" -->
   <header>
diff --git a/sw/airborne/modules/cam_control/cam.c b/sw/airborne/modules/cam_control/cam.c
index 5e40d64ad6..b4619aacdd 100644
--- a/sw/airborne/modules/cam_control/cam.c
+++ b/sw/airborne/modules/cam_control/cam.c
@@ -56,7 +56,7 @@ float test_cam_estimator_hspeed_dir;
 #endif
 
 #ifdef CAM_TILT_NEUTRAL
-#if (CAM_TILT_MAX == CAM_TILT_NEUTRAL)
+#if ((CAM_TILT_MAX) == (CAM_TILT_NEUTRAL))
 #error CAM_TILT_MAX has to be different from CAM_TILT_NEUTRAL
 #endif
 #if (CAM_TILT_NEUTRAL == CAM_TILT_MIN)
@@ -98,7 +98,11 @@ void cam_waypoint_target(void);
 void cam_ac_target(void);
 
 void cam_init( void ) {
+#ifdef CAM_MODE0
+  cam_mode = CAM_MODE0;
+#else
   cam_mode = CAM_MODE_OFF;
+#endif
 }
 
 void cam_periodic( void ) {
@@ -183,7 +187,7 @@ void cam_nadir( void ) {
   cam_target_x = estimator_x;
   cam_target_y = estimator_y;
 #endif
-  cam_target_alt = 0;
+  cam_target_alt = -10;
   cam_target();
 }