Please perform upgrade in the order below,
starting from the nearest next version to your current version

4.0.20-p63.bin
4.0.22-p22.bin
4.0.24-p4.bin
4.0.24-p356.bin
4.1.5-p22.bin <== newest version

For example:
If you are on 4.0.23-*,
you can start by upgrading to 4.0.24-p4, then 4.0.24-p356 and finally 4.1.5-p22