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No Vehicle Connection Following Accelerometer Calibration

I have just finished assembling 3 x BlueROV2 systems but whenever I try to calibrate the accelerometer I get the message below after the vehicle reboots. Can anyone advise where I may be going wrong as it is the same on all 3 systems.:

Even after a ‘hard reboot’ (power cycle the vehicle)?

After a hard reboot, the comms are re-established but I have the same issue again when I try to calibrate the accelerometer. Another issue is that there is no option in the motors page to auto detect the thruster direction.

The automatic thruster direction support started in Ardusub version 4.0.0. Have you updated to the latest stable versions of QGC, Companion, and Urdusub?