diff --git a/configs/vehicles/px4_v1_14_0_dronecan_quadrotor.yaml b/configs/vehicles/px4_v1_14_0_dronecan_quadrotor.yaml
new file mode 100644
index 0000000..62579da
--- /dev/null
+++ b/configs/vehicles/px4_v1_14_0_dronecan_quadrotor.yaml
@@ -0,0 +1,6 @@
+firmware: https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.14.0-0.4.1-beta1/px4_fmu-v5_default.px4
+params:
+  - configs/px4/v1.14/quadcopter/airframe.yaml
+  - configs/px4/v1.14/quadcopter/dronecan.yaml
+  - configs/px4/dronecan.yaml
+  - configs/px4/common.yaml
diff --git a/scripts/configure.sh b/scripts/configure.sh
index 0856d5c..1cad2ea 100755
--- a/scripts/configure.sh
+++ b/scripts/configure.sh
@@ -31,15 +31,6 @@ px4_v1_14_0_cyphal_octorotor() {
         ${REPOSITORY_DIR}/configs/px4/common.yaml
 }
 
-px4_v1_14_0_dronecan_quadrotor() {
-    wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_14_0_BETA_DRONECAN_URL
-    autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
-        ${REPOSITORY_DIR}/configs/px4/v1.14/quadcopter/airframe.yaml \
-        ${REPOSITORY_DIR}/configs/px4/v1.14/quadcopter/dronecan.yaml \
-        ${REPOSITORY_DIR}/configs/px4/dronecan.yaml \
-        ${REPOSITORY_DIR}/configs/px4/common.yaml
-}
-
 px4_v1_12_1_dronecan_vtol() {
     wget -O $DOWNLOADED_BINARY_PATH $PX4_V1_12_1_DRONECAN_URL
     autopilot-configurator -v --firmware $DOWNLOADED_BINARY_PATH -f --config \
@@ -108,7 +99,7 @@ elif [[ $1 == "cyphal_octorotor" ]]; then
     px4_v1_14_0_cyphal_octorotor
 elif [[ $1 == "cyphal_quadrotor" ]]; then
     px4_v1_14_0_cyphal_quadcopter
-elif [[ $1 == "dronecan_quadrotor" ]]; then
+elif [[ $1 == "px4_v1_14_0_dronecan_quadrotor" ]]; then
     px4_v1_14_0_dronecan_quadrotor
 else
     printf "$RED$SCRIPT_NAME ERROR (line ${LINENO}): Unknown argument: '$1' $NC\n"
diff --git a/scripts/docker.sh b/scripts/docker.sh
index 50a035c..65b25c2 100755
--- a/scripts/docker.sh
+++ b/scripts/docker.sh
@@ -171,14 +171,15 @@ dronecan_vtol_v1_14_0() {
     docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh ${vehicle}
 }
 
-dronecan_quadrotor() {
+px4_v1_14_0_dronecan_quadrotor() {
     kill_all_related_containers
     setup_dronecan_hitl_config
     slcan_checker&
+    vehicle="px4_v1_14_0_dronecan_quadrotor"
     if [[ $OPTIONS == "--force" ]]; then
-        ./configure.sh dronecan_quadrotor
+        ${REPOSITORY_DIR}/scripts/configurator.py ${REPOSITORY_DIR}/configs/vehicles/${vehicle}.yaml
     fi
-    docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh dronecan_flight_goggles
+    docker container run --rm $DOCKER_FLAGS $IMAGE_NAME ./scripts/run_sim.sh ${vehicle}
 }
 
 sitl_inno_vtol() {
@@ -278,7 +279,7 @@ elif [ "$1" = "dronecan_vtol_v1_12_1" ] || [ "$1" = "dvo" ]; then
 elif [ "$1" = "dronecan_vtol_v1_14_0" ] || [ "$1" = "dv" ]; then
     dronecan_vtol_v1_14_0
 elif [ "$1" = "dronecan_quadrotor" ] || [ "$1" = "dq" ]; then
-    dronecan_quadrotor
+    px4_v1_14_0_dronecan_quadrotor
 elif [ "$1" = "sitl_inno_vtol" ]; then
     sitl_inno_vtol
 elif [ "$1" = "sitl_flight_goggles" ]; then
diff --git a/scripts/run_sim.sh b/scripts/run_sim.sh
index 99ab477..3cf6994 100755
--- a/scripts/run_sim.sh
+++ b/scripts/run_sim.sh
@@ -12,7 +12,7 @@ Usage: run_sim.sh <command>
 Commands:
   px4_v1_14_0_beta_dronecan_vtol          Run dynamics simulator in DroneCan HITL mode for px4 vtol 13000 airframe
   px4_v1_12_1_dronecan_vtol               Run dynamics simulator in DroneCan HITL mode for px4 vtol 13070 airframe
-  dronecan_flight_goggles                 Run dynamics simulator in DroneCan HITL mode for flight_goggles airframe
+  px4_v1_14_0_dronecan_quadrotor          Run dynamics simulator in DroneCan HITL mode for flight_goggles airframe
   cyphal_quadrotor                        Cyphal HITL PX4 Quadrotor (4001)
   cyphal_octorotor                        Cyphal HITL PX4 Octorotor (12001)
   cyphal_standard_vtol                    Run dynamics simulator in Cyphal HITL mode for vtol 4 motors airframe.
@@ -108,7 +108,7 @@ px4_v1_12_1_dronecan_vtol() {
         dynamics:=vtol_dynamics
 }
 
-dronecan_flight_goggles() {
+px4_v1_14_0_dronecan_quadrotor() {
     setup_ros
     setup_dronecan_hitl
     $SCRIPT_DIR/airframe_printer.sh 4001
@@ -238,8 +238,8 @@ if [ "$1" = "px4_v1_14_0_beta_dronecan_vtol" ]; then
     px4_v1_14_0_beta_dronecan_vtol
 elif [ "$1" = "px4_v1_12_1_dronecan_vtol" ]; then
     px4_v1_12_1_dronecan_vtol
-elif [ "$1" = "dronecan_flight_goggles" ]; then
-    dronecan_flight_goggles
+elif [ "$1" = "px4_v1_14_0_dronecan_quadrotor" ]; then
+    px4_v1_14_0_dronecan_quadrotor
 elif [ "$1" = "cyphal_quadrotor" ]; then
     cyphal_quadrotor
 elif [ "$1" = "cyphal_octorotor" ]; then