Moneybarn HP loan issue

[22thingz]

Hi took a loan out with moneybarn and have missed two payments due to issues with an unexpected debt. I contacted them in regards to this over the phone and tried to set up an agreement to repay however they refused. A default notice was issued to me and was shortly followed by a termination letter. I want to keep the car and can afford the current monthly payments plus a small additional amount. What are my options here? I have paid less than 1/3 of the loan value so currently keeping the car privately to avoid repossession for now. Is there a way I can make an agreement amicably? The next payment would of been due next week shall I make another payment? Please advise