diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index da4c2ac3bc..0d79b069f7 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -583,6 +583,44 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             }
             break;
 
+        case MOTOR_FRAME_DODECAHEXA: {
+            switch (frame_type) {
+                case MOTOR_FRAME_TYPE_PLUS:
+                    add_motor(AP_MOTORS_MOT_1,     0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);  // forward-top
+                    add_motor(AP_MOTORS_MOT_2,     0, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);  // forward-bottom
+                    add_motor(AP_MOTORS_MOT_3,    60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);  // forward-right-top
+                    add_motor(AP_MOTORS_MOT_4,    60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);  // forward-right-bottom
+                    add_motor(AP_MOTORS_MOT_5,   120, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);  // back-right-top
+                    add_motor(AP_MOTORS_MOT_6,   120, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6);  // back-right-bottom
+                    add_motor(AP_MOTORS_MOT_7,   180, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);  // back-top
+                    add_motor(AP_MOTORS_MOT_8,   180, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);  // back-bottom
+                    add_motor(AP_MOTORS_MOT_9,  -120, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 9);  // back-left-top
+                    add_motor(AP_MOTORS_MOT_10, -120, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  10); // back-left-bottom
+                    add_motor(AP_MOTORS_MOT_11,  -60, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  11); // forward-left-top
+                    add_motor(AP_MOTORS_MOT_12,  -60, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12); // forward-left-bottom
+                    success = true;
+                    break;
+                case MOTOR_FRAME_TYPE_X:
+                    add_motor(AP_MOTORS_MOT_1,    30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  1); // forward-right-top
+                    add_motor(AP_MOTORS_MOT_2,    30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   2); // forward-right-bottom
+                    add_motor(AP_MOTORS_MOT_3,    90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   3); // right-top
+                    add_motor(AP_MOTORS_MOT_4,    90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  4); // right-bottom
+                    add_motor(AP_MOTORS_MOT_5,   150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  5); // back-right-top
+                    add_motor(AP_MOTORS_MOT_6,   150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   6); // back-right-bottom
+                    add_motor(AP_MOTORS_MOT_7,  -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   7); // back-left-top
+                    add_motor(AP_MOTORS_MOT_8,  -150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  8); // back-left-bottom
+                    add_motor(AP_MOTORS_MOT_9,   -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  9); // left-top
+                    add_motor(AP_MOTORS_MOT_10,  -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  10); // left-bottom
+                    add_motor(AP_MOTORS_MOT_11,  -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  11); // forward-left-top
+                    add_motor(AP_MOTORS_MOT_12,  -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 12); // forward-left-bottom
+                    success = true;
+                    break;
+                default:
+                    // dodeca-hexa frame class does not support this frame type
+                    break;
+            }}
+            break;
+
         case MOTOR_FRAME_Y6:
             switch (frame_type) {
                 case MOTOR_FRAME_TYPE_Y6B:
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index ec3cd6d381..c435b05e97 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -15,8 +15,12 @@
 #define AP_MOTORS_MOT_6 5U
 #define AP_MOTORS_MOT_7 6U
 #define AP_MOTORS_MOT_8 7U
+#define AP_MOTORS_MOT_9 8U
+#define AP_MOTORS_MOT_10 9U
+#define AP_MOTORS_MOT_11 10U
+#define AP_MOTORS_MOT_12 11U
 
-#define AP_MOTORS_MAX_NUM_MOTORS 8
+#define AP_MOTORS_MAX_NUM_MOTORS 12
 
 // motor update rate
 #define AP_MOTORS_SPEED_DEFAULT     490 // default output rate to the motors
@@ -38,6 +42,7 @@ public:
         MOTOR_FRAME_COAX = 9,
         MOTOR_FRAME_TAILSITTER = 10,
         MOTOR_FRAME_HELI_DUAL = 11,
+        MOTOR_FRAME_DODECAHEXA = 12,
     };
     enum motor_frame_type {
         MOTOR_FRAME_TYPE_PLUS = 0,