Hi @Fluyer2, welcome to the forum 
Looks like an interesting project!
The output channels are defined using the SERVOn_FUNCTION parameters - if an output is configured as a motor then it can’t simultaneously be configured as something else, so there shouldn’t be conflicts once the parameters are set appropriately.
I don’t believe this should be necessary. Configuring the outputs as motors will stop the other functionalities from occurring.
Camera functionality on our ROVs is handled via the onboard computer (Raspberry Pi), so is unrelated.
I expect it would primarily be handled with parameters and an appropriate frame configuration, but there are currently only motor parameters up to 12, so you would need to add additional ones. I’m also not certain whether motors 9-12 are actually implemented in ArduSub, so I’ve asked internally and will get back to you.
That’s not something I have experience with, but also that may not be possible for every output, depending on the flight controller’s capabilities.
As a couple of alternatives, you may be able to
- use fewer, larger thrusters
- we’re working on this, and should have some news to share soonish
- double up on some of the thruster signals
- mentioned here
- loses some movement independence, but that’s unlikely to cause issues (since even 8 independent controls is plenty)