diff --git a/libraries/AP_Motors/AP_MotorsQuad.cpp b/libraries/AP_Motors/AP_MotorsQuad.cpp
index ba6876b5cd..fc27581048 100644
--- a/libraries/AP_Motors/AP_MotorsQuad.cpp
+++ b/libraries/AP_Motors/AP_MotorsQuad.cpp
@@ -23,6 +23,12 @@ void AP_MotorsQuad::setup_motors()
         add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
         add_motor(AP_MOTORS_MOT_3,   0, AP_MOTORS_MATRIX_MOTOR_CW,  1);
         add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW,  3);
+    }else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
+        // V frame set-up
+        add_motor(AP_MOTORS_MOT_1,   45,  0.8877,  1);
+        add_motor(AP_MOTORS_MOT_2, -135,  1.1123,  3);
+        add_motor(AP_MOTORS_MOT_3,  -45, -0.8877,  4);
+        add_motor(AP_MOTORS_MOT_4,  135, -1.1123,  2);
     }else{
         // X frame set-up
         add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);