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For the droid, there's an item, very easy to use trough the mission panel as @your.sheepy mentionned, the panel viewable at all time trough your original U.I.. Probably in the Top-Right of your screen, if I recall.
If not, the same item, "could" be in your inventory, under the "mission" tab, it looks like a remote.
At any point, if the droid dies or disappears, that remote will order a new one to be dropped.
If he gets stuck anywhere, he always teleports back to you so... Make sure he's not fighting some mobs far away, while you were running trough/skipping a group of-.
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To be sure he's still around;
1.Edit your screen U.I., and enable the "focus target" icon.
2.Go in your preferences/hotkeys and add one for the "set focus target" key.
~~ Use it on the droid every time you start a Flashpoint or when you call a new one.
Also, you shouldn't need the droid if you gear up through heroics, and learn to use the abilities of your classes - controls, interrupts, defenses, off-heals, and a reasonable rotation that use whatever synergies and heavy hitters you have at your level. Between your companion and Heroic Moment, no story mode flashpoints should post a credible threat.
If you are desperate, ask for help from guildies. Most should be happy to get you through a flashpoint or two. Find another guild if they don't.
It might send you back outside a flashpoint and you might have to run back through the already cleared areas.
I don't know if this game resets instances after it has been empty of players for a certain time but I have DC'd and gotten straight back on and mine were still there so you have a little while at least.
And yeah I got something confused once and reset a mission which threw me back a long way too.
Also as pointed out above your companions and droid can get stuck in combat somewhere with enemies it cannot kill (stuck in terrain somewhere or elsewhere out of bounds) so if you are missing it just check your sprint is active. If you are not sprinting when you feel you should be it is likely you are still in combat which means your droid or companion is alive and trying to fight.
If you get far enough away it should warp to you and be ok again. If a companion is missing do not use the passive button and then reset it as my companions often seemed to be broken after that. Dismiss and resummon seems a better option.