diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 50d08cbd01..965c4ce28b 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -629,14 +629,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor(AP_MOTORS_MOT_8,  112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
                     break;
                 case MOTOR_FRAME_TYPE_V:
-                    add_motor_raw(AP_MOTORS_MOT_1,  1.0f,  0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
-                    add_motor_raw(AP_MOTORS_MOT_2, -1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
-                    add_motor_raw(AP_MOTORS_MOT_3,  1.0f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
-                    add_motor_raw(AP_MOTORS_MOT_4, -0.5f,  -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
-                    add_motor_raw(AP_MOTORS_MOT_5,  1.0f,   1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
-                    add_motor_raw(AP_MOTORS_MOT_6, -1.0f,  0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
-                    add_motor_raw(AP_MOTORS_MOT_7, -1.0f,   1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
-                    add_motor_raw(AP_MOTORS_MOT_8,  0.5f,  -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
+                    add_motor_raw(AP_MOTORS_MOT_1,  0.83f,  0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
+                    add_motor_raw(AP_MOTORS_MOT_2, -0.67f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
+                    add_motor_raw(AP_MOTORS_MOT_3,  0.67f, -0.32f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
+                    add_motor_raw(AP_MOTORS_MOT_4, -0.50f, -1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
+                    add_motor_raw(AP_MOTORS_MOT_5,  1.00f,  1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
+                    add_motor_raw(AP_MOTORS_MOT_6, -0.83f,  0.34f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
+                    add_motor_raw(AP_MOTORS_MOT_7, -1.00f,  1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
+                    add_motor_raw(AP_MOTORS_MOT_8,  0.50f, -1.00f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
                     break;
                 case MOTOR_FRAME_TYPE_H:
                     add_motor_raw(AP_MOTORS_MOT_1, -1.0f,    1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);