diff --git a/libraries/AR_Motors/AP_MotorsUGV.cpp b/libraries/AR_Motors/AP_MotorsUGV.cpp
index b211384e1c..9f0255059a 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.cpp
+++ b/libraries/AR_Motors/AP_MotorsUGV.cpp
@@ -647,6 +647,13 @@ void AP_MotorsUGV::setup_omni()
         add_omni_motor(2, 0.0f, -1.0f, 1.0f);
         add_omni_motor(3, 1.0f, 0.0f, 0.0f);
         break;
+
+    case FRAME_TYPE_OMNI3MECANUM:
+        _motors_num = 3;
+        add_omni_motor(0,  -1.0f,    1.0f,  -0.26795f);
+        add_omni_motor(1,  0.73205f, 1.0f,  -0.73205f);
+        add_omni_motor(2,  0.26795f, 1.0f,   1.0f);
+        break;
     }
 }
 
diff --git a/libraries/AR_Motors/AP_MotorsUGV.h b/libraries/AR_Motors/AP_MotorsUGV.h
index 42c2df5377..4df000f74e 100644
--- a/libraries/AR_Motors/AP_MotorsUGV.h
+++ b/libraries/AR_Motors/AP_MotorsUGV.h
@@ -27,6 +27,7 @@ public:
         FRAME_TYPE_OMNI3 = 1,
         FRAME_TYPE_OMNIX = 2,
         FRAME_TYPE_OMNIPLUS = 3,
+        FRAME_TYPE_OMNI3MECANUM = 4,
     };
 
     // initialise motors