Hi Michael,
See this post on the “No GPS Lock” issue.
Are you aware of the rebooting functionality available in the companion web interface? You can restart the companion raspberry pi from there if you need to - just be aware that you won’t have control over the ROV, or any telemetry data or video/audio stream while it’s restarting.
Assuming you’re using a standard BlueROV2 electronics setup, the companion computer will automatically restart the video stream within 5 seconds if it drops out for some reason but is recoverable. That’s done here in case you’re interested 