IPhone iOS4 unable connect to my Car Entertainment Unit

I have recently bought a Car Entertainment Unit, Pioneer DEH-5250SD, which work great with my Iphone, ipod function. Was able to use the unit to control the playback function, song selection, search function, basically most of the function of the ipod.
HOWEVER when I upgraded the iOS4, ERROR 19 was shown the unit. Nothing was heard! The two units did not work properly. Should I downgrade back to OS 3.13

I have recently done the exact same thing. Does anyone know if there is a resolution for this problem yet. Also running OS4 on the iPhone 3Gs.

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