Which version of the ArduSub firmware is suitable for the Cube Orange?

Hello,
I have tried making the ArduSub-Cube-Black firmware work with Cube Black. And then failed.
Next, I have tried making the ArduSub-fmuv3 firmware work with Cube Black. And then I succeeded.
Right now, I have intention to purchase a Cube Orange, and want to integrate it into the ArduSub system.
So, I would like to know which version of the ArduSub firmware is suitable for the Cube Orange.
By the way, does the Cube Orange belong to the FMU_v3? If not, which version of FMU does the Cube Orange belong to?
Looking forward to your reply. Thanks!

May I know how did you fail to upload firmware?
I have tried to upload ArduSub from Mission Planner to Cube Black and Orange.
Both works fine.

Cube Orange is FMU_v3

The Cube Black with firmware ArduSub-Cube-Black-v4.0 and above does not autoconnect to Companion computer. QGC will appear with video, but there is no vehicle detected.