Completed https://bluerobotics.com/learn/bluerov2-software-setup/

• Calibrated gyroscope and compass
• Configured motor directions
• Configured controller

Had issue getting firmware version on ArduPilot due to not being able to connect to Wifi, should be a more recent version of ArduPilot —> skipped this step

Made quick fix for tether connection, need more permanent solution with o-ring and penetrator