diff --git a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
index 84a64556f9..ca3c57a420 100644
--- a/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
+++ b/libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
@@ -28,6 +28,7 @@ void loop();
 void motor_order_test();
 void stability_test();
 void update_motors();
+void print_all_motor_matrix();
 
 #define HELI_TEST       0   // set to 1 to test helicopters
 #define NUM_OUTPUTS     4   // set to 6 for hexacopter, 8 for octacopter and heli
@@ -35,6 +36,9 @@ void update_motors();
 #if HAL_WITH_ESC_TELEM
 AP_ESC_Telem esc_telem;
 #endif
+
+#define VERSION "AP_Motors library test ver 1.1"
+
 SRV_Channels srvs;
 
 // uncomment the row below depending upon what frame you are using
@@ -51,7 +55,6 @@ bool thrust_boost = false;
 // setup
 void setup()
 {
-    hal.console->printf("AP_Motors library test ver 1.0\n");
 
     // motor initialisation
     motors.set_dt(1.0/400.0);
@@ -69,10 +72,6 @@ void setup()
 #endif
 #endif // HELI_TEST == 0
 
-    char frame_and_type_string[30];
-    motors.get_frame_and_type_string(frame_and_type_string, ARRAY_SIZE(frame_and_type_string));
-    hal.console->printf("%s\n", frame_and_type_string);
-
 #if HELI_TEST == 0
     motors.update_throttle_range();
     motors.set_throttle_avg_max(0.5f);
@@ -118,8 +117,12 @@ void setup()
         } else if (strcmp(argv[1],"s") == 0) {
             stability_test();
 
+#if HELI_TEST == 0
+        } else if (strcmp(argv[1],"p") == 0) {
+            print_all_motor_matrix();
+#endif
         } else {
-            ::printf("Expected first argument, 't' or 's'\n");
+            ::printf("Expected first argument: 't', 's' or 'p'\n");
 
         }
         hal.scheduler->delay(1000);
@@ -156,6 +159,83 @@ void loop()
     }
 }
 
+// print motor layout for all frame types in json format
+void print_all_motor_matrix()
+{
+    hal.console->printf("{\n");
+    hal.console->printf("\t\"Version\": \"%s\",\n", VERSION);
+    hal.console->printf("\t\"layouts\": [\n");
+
+    bool first_layout = true;
+    char frame_and_type_string[30];
+
+    for (uint8_t frame_class=0; frame_class <= AP_Motors::MOTOR_FRAME_DECA; frame_class++) {
+        for (uint8_t frame_type=0; frame_type < AP_Motors::MOTOR_FRAME_TYPE_Y4; frame_type++) {
+            if (frame_type == AP_Motors::MOTOR_FRAME_TYPE_VTAIL ||
+                frame_type == AP_Motors::MOTOR_FRAME_TYPE_ATAIL) {
+                // Skip the none planar motors types
+                continue;
+            }
+            motors.init((AP_Motors::motor_frame_class)frame_class, (AP_Motors::motor_frame_type)frame_type);
+            if (motors.initialised_ok()) {
+                if (!first_layout) {
+                    hal.console->printf(",\n");
+                }
+                first_layout = false;
+
+                // Grab full frame string and strip "Frame: " and split
+                // This is the long way round, motors does have direct getters, but there protected
+                motors.get_frame_and_type_string(frame_and_type_string, ARRAY_SIZE(frame_and_type_string));
+                char *frame_string = strchr(frame_and_type_string, ':');
+                char *type_string = strchr(frame_and_type_string, '/');
+                if (type_string != nullptr) {
+                    *type_string = 0;
+                }
+
+                hal.console->printf("\t\t{\n");
+                hal.console->printf("\t\t\t\"Class\": %i,\n", frame_class);
+                hal.console->printf("\t\t\t\"ClassName\": \"%s\",\n", frame_string+2);
+                hal.console->printf("\t\t\t\"Type\": %i,\n", frame_type);
+                hal.console->printf("\t\t\t\"TypeName\": \"%s\",\n", (type_string != nullptr) ? type_string + 1 : "?");
+                hal.console->printf("\t\t\t\"motors\": [\n");
+                bool first_motor = true;
+                for (uint8_t i = 0; i < AP_MOTORS_MAX_NUM_MOTORS; i++) {
+                    float roll, pitch, yaw, throttle;
+                    uint8_t testing_order;
+                    if (motors.get_factors(i, roll, pitch, yaw, throttle, testing_order)) {
+                        if (!first_motor) {
+                            hal.console->printf(",\n");
+                        }
+                        first_motor = false;
+                        hal.console->printf("\t\t\t\t{\n");
+                        hal.console->printf("\t\t\t\t\t\"Number\": %i,\n", i+1);
+                        hal.console->printf("\t\t\t\t\t\"TestOrder\": %i,\n", testing_order);
+                        hal.console->printf("\t\t\t\t\t\"Rotation\": ");
+                        if (is_positive(yaw)) {
+                            hal.console->printf("\"CCW\",\n");
+                        } else if (is_negative(yaw)) {
+                            hal.console->printf("\"CW\",\n");
+                        } else {
+                            hal.console->printf("\"?\",\n");
+                        }
+                        hal.console->printf("\t\t\t\t\t\"Roll\": %0.4f,\n", roll);
+                        hal.console->printf("\t\t\t\t\t\"Pitch\": %0.4f\n", pitch);
+                        hal.console->printf("\t\t\t\t}");
+                    }
+                }
+                hal.console->printf("\n");
+                hal.console->printf("\t\t\t]\n");
+                hal.console->printf("\t\t}");
+
+            }
+        }
+    }
+
+    hal.console->printf("\n");
+    hal.console->printf("\t]\n");
+    hal.console->printf("}\n");
+}
+
 // stability_test
 void motor_order_test()
 {
@@ -175,6 +255,10 @@ void motor_order_test()
 // stability_test
 void stability_test()
 {
+    hal.console->printf("%s\n", VERSION);
+    char frame_and_type_string[30];
+    motors.get_frame_and_type_string(frame_and_type_string, ARRAY_SIZE(frame_and_type_string));
+    hal.console->printf("%s\n", frame_and_type_string);
 #if HELI_TEST == 0
     hal.console->printf("Throttle average max: %0.4f\n",  motors.get_throttle_avg_max());
     hal.console->printf("Yaw headroom: %i\n", motors.get_yaw_headroom());