Speaking as an ex-Cub Scout leader, I hate to tell you this, but once he gets to camp, your son will completely forget about you!!!
If he has any problems before going to camp, encourage him to tell you what the problems are, and work through them with him. Reassure him that he will know everybody there, and that it's going to be fun and he'll have a great time!
Camping is an important part of Scouting, and the kids learn so many different things. I know that the thing my boys found the most fun (apart from the camp that I fell into a creek, and emerged covered in weed - earning the unofficial Scout name of "Bunyip") was Sunday lunch. In our troup, it was a tradition on Sunday lunch (the last meal of the camp) that the boys had small campfires and cooked lunch for the adults on the camp. Usually it was easy things - like sausages and damper.
You won't regret sending your son - and you'll be surprised when he comes back at how much he's changed!