Hi Eliot, we bought the ROV back in March 2021, so it’s the standard PixHawk and Raspberry Pi that ships with the stock build. It’s kinda weird that ArduSub v4.0.x doesn’t work with latest Companion software (see our experiments here: ROV connect to QGroundContorol Failure, Unable to control ROV or update firmware - #13 by searover2021). I guess we can use ArduSub v3.5.4 for now if ArduSub version is unrelated to camera flakiness or its fix.