Connection Problems

I tried to load the new code through Mission Planner, it got half way through and lost the connection for some reason, now I cannot connect at all. I can connect through the terminal. I can connect through Arduino but when I upload the code I get an error (see attached jpg)I have checked the CLI switch and baud rate and that RTS is set.I have no idea what to do next, any help greatly appreciated.

Arduino.JPG

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