diff --git a/bebop_driver/config/defaults.yaml b/bebop_driver/config/defaults.yaml
index 4ce12e2..cf2fd3e 100644
--- a/bebop_driver/config/defaults.yaml
+++ b/bebop_driver/config/defaults.yaml
@@ -19,6 +19,7 @@ states:
   enable_autotakeoffmodechanged: true
   enable_mediastreamingstate_videoenablechanged: true
   enable_camerastate_orientation: true
+  enable_camerastate_orientationv2: true
   enable_gpsstate_numberofsatellitechanged: true
   enable_numberofsatellitechanged: true
 
diff --git a/bebop_driver/include/bebop_driver/autogenerated/ardrone3_state_callbacks.h b/bebop_driver/include/bebop_driver/autogenerated/ardrone3_state_callbacks.h
index 87c63cc..f633508 100644
--- a/bebop_driver/include/bebop_driver/autogenerated/ardrone3_state_callbacks.h
+++ b/bebop_driver/include/bebop_driver/autogenerated/ardrone3_state_callbacks.h
@@ -1605,6 +1605,9 @@ class Ardrone3CameraStateOrientationV2 : public AbstractState
     {
       ARSAL_PRINT(ARSAL_PRINT_INFO, "CB" , "[STATES] Enabling %s", topic.c_str());
       ros_pub_ = nh.advertise<bebop_msgs::Ardrone3CameraStateOrientationV2>(topic, 10, true);
+      ::boost::lock_guard<boost::mutex> lock(mutex_);
+      msg_ptr.reset(new ::bebop_msgs::Ardrone3CameraStateOrientationV2());
+      ros_pub_.publish(msg_ptr);
     } // pub_enabled_ is false
   }
 
diff --git a/bebop_driver/launch/bebop_node.launch b/bebop_driver/launch/bebop_node.launch
index f28797e..f74005e 100644
--- a/bebop_driver/launch/bebop_node.launch
+++ b/bebop_driver/launch/bebop_node.launch
@@ -2,7 +2,7 @@
 <launch>
     <arg name="namespace" default="bebop" />
     <arg name="ip" default="192.168.42.1" />
-    <arg name="drone_type" default="bebop1" /> <!-- available drone types: bebop1, bebop2 -->
+    <arg name="drone_type" default="bebop2" /> <!-- available drone types: bebop1, bebop2 -->
     <arg name="config_file" default="$(find bebop_driver)/config/defaults.yaml" />
     <arg name="camera_info_url" default="package://bebop_driver/data/$(arg drone_type)_camera_calib.yaml" />
     <group ns="$(arg namespace)">
diff --git a/bebop_driver/launch/bebop_nodelet.launch b/bebop_driver/launch/bebop_nodelet.launch
index 048fcf6..87ddbbe 100644
--- a/bebop_driver/launch/bebop_nodelet.launch
+++ b/bebop_driver/launch/bebop_nodelet.launch
@@ -2,7 +2,7 @@
 <launch>
     <arg name="namespace" default="bebop" />
     <arg name="ip" default="192.168.42.1" />
-    <arg name="drone_type" default="bebop1" /> <!-- available drone types: bebop1, bebop2 -->
+    <arg name="drone_type" default="bebop2" /> <!-- available drone types: bebop1, bebop2 -->
     <arg name="config_file" default="$(find bebop_driver)/config/defaults.yaml" />
     <arg name="camera_info_url" default="package://bebop_driver/data/$(arg drone_type)_camera_calib.yaml" />
     <group ns="$(arg namespace)">
diff --git a/bebop_driver/src/bebop.cpp b/bebop_driver/src/bebop.cpp
index d2664c1..5564109 100644
--- a/bebop_driver/src/bebop.cpp
+++ b/bebop_driver/src/bebop.cpp
@@ -553,10 +553,10 @@ void Bebop::Move(const double &roll, const double &pitch, const double &gaz_spee
 void Bebop::MoveCamera(const double &tilt, const double &pan)
 {
   ThrowOnInternalError("Camera Move Failure");
-  ThrowOnCtrlError(device_controller_ptr_->aRDrone3->setCameraOrientation(
+  ThrowOnCtrlError(device_controller_ptr_->aRDrone3->setCameraOrientationV2(
                      device_controller_ptr_->aRDrone3,
-                     static_cast<int8_t>(tilt),
-                     static_cast<int8_t>(pan)));
+                     static_cast<float>(tilt),
+                     static_cast<float>(pan)));
 }
 
 uint32_t Bebop::GetFrontCameraFrameWidth() const
diff --git a/bebop_driver/src/bebop_driver_nodelet.cpp b/bebop_driver/src/bebop_driver_nodelet.cpp
index 1deca22..2d1dc60 100644
--- a/bebop_driver/src/bebop_driver_nodelet.cpp
+++ b/bebop_driver/src/bebop_driver_nodelet.cpp
@@ -482,7 +482,8 @@ void BebopDriverNodelet::AuxThread()
   util::ResetTwist(zero_twist);
 
   // Camera Pan/Tilt State
-  bebop_msgs::Ardrone3CameraStateOrientation::ConstPtr camera_state_ptr;
+  bebop_msgs::Ardrone3CameraStateOrientationV2::ConstPtr camera_state_ptr;
+  bebop_ptr_->MoveCamera(0.0, 0.0);
 
   // East-South-Down
   bebop_msgs::Ardrone3PilotingStateSpeedChanged::ConstPtr speed_esd_ptr;
@@ -568,9 +569,9 @@ void BebopDriverNodelet::AuxThread()
         }
       }
 
-      if (bebop_ptr_->ardrone3_camerastate_orientation_ptr)
+      if (bebop_ptr_->ardrone3_camerastate_orientationv2_ptr)
       {
-        camera_state_ptr = bebop_ptr_->ardrone3_camerastate_orientation_ptr->GetDataCstPtr();
+        camera_state_ptr = bebop_ptr_->ardrone3_camerastate_orientationv2_ptr->GetDataCstPtr();
 
         if ((camera_state_ptr->header.stamp - last_camerastate_time).toSec() > util::eps)
         {