To get Foscam HD Cameras to work you will have to do 2 things. First put this address in to your web browser to set the HD camera to stream in MJPEG.
http://ip address:port/cgi-bin/CGIProxy.fcgi?usr=admin&pwd=&cmd=setSubStreamFormat&format=1
Then put this address into iCam to get the video.
http://ip address:port/cgi-bin/CGIStream.cgi?cmd=GetMJStream&usr=admin&pwd=xxx
Simply replace the IP address, port, username, and password into the above URL to access your camera's MJPEG stream.
Pan and Tilt does not work. I hoping that iCam will put support for this in the near future.