diff --git a/configs/px4/cyphal.yaml b/configs/px4/cyphal.yaml
index bfc1545..8c458ad 100644
--- a/configs/px4/cyphal.yaml
+++ b/configs/px4/cyphal.yaml
@@ -5,9 +5,9 @@ CYPHAL_ENABLE:    1
 UCAN1_ESC_PUB:    2342
 UCAN1_READ_PUB:   2343
 
-# UCAN1_IMU_SUB:    2300
-UCAN1_ACCEL_SUB:  2400
-UCAN1_GYRO_SUB:   2401
+UCAN1_IMU_SUB:    2300
+# UCAN1_ACCEL_SUB:  2400
+# UCAN1_GYRO_SUB:   2401
 
 UCAN1_MAG0_SUB:   2402
 
@@ -19,7 +19,8 @@ UCAN1_GPSSA0_SUB: 2407
 UCAN1_GPSST0_SUB: 2408
 UCAN1_GPSPD0_SUB: 2409
 
-UCAN1_DPRES_SUB:  2600
+UCAN1_DPRES0_SUB: 2600
+UCAN1_DPRES1_SUB: 2601
 
 UCAN1_FB0_SUB:    2500
 UCAN1_FB1_SUB:    2501
diff --git a/scripts/configure.sh b/scripts/configure.sh
index bce9d7a..11a8f15 100755
--- a/scripts/configure.sh
+++ b/scripts/configure.sh
@@ -90,8 +90,8 @@ fi
 DOWNLOADS_DIR=$REPOSITORY_DIR/downloads
 DOWNLOADED_BINARY_PATH=$DOWNLOADS_DIR/px4_fmu-v5_latest_downloaded_firmware.px4
 PX4_V1_12_1_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.12.1_hitl/px4_fmu-v5_default.px4
-PX4_V1_14_0_BETA_CYPHAL_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.0-beta1/px4_fmu-v5_cyphal.px4
-PX4_V1_14_0_BETA_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.0-beta1/px4_fmu-v5_default.px4
+PX4_V1_14_0_BETA_CYPHAL_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_cyphal.px4
+PX4_V1_14_0_BETA_DRONECAN_URL=https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_default.px4
 
 
 mkdir -p $DOWNLOADS_DIR