diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index ba72455512..36a191f981 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -476,15 +476,6 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
                     success = true;
                     break;
-                case MOTOR_FRAME_TYPE_H:
-                    add_motor(AP_MOTORS_MOT_1,  90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
-                    add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
-                    add_motor(AP_MOTORS_MOT_3, -30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
-                    add_motor(AP_MOTORS_MOT_4, 150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
-                    add_motor(AP_MOTORS_MOT_5,  30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
-                    add_motor(AP_MOTORS_MOT_6,-150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
-                    success = true;
-                    break;
                 default:
                     // hexa frame class does not support this frame type
                     break;
@@ -527,14 +518,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     success = true;
                     break;
                 case MOTOR_FRAME_TYPE_H:
-                    add_motor(AP_MOTORS_MOT_1,   22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
-                    add_motor(AP_MOTORS_MOT_2, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
-                    add_motor(AP_MOTORS_MOT_3,   67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
-                    add_motor(AP_MOTORS_MOT_4,  157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
-                    add_motor(AP_MOTORS_MOT_5,  -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  8);
-                    add_motor(AP_MOTORS_MOT_6, -112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6);
-                    add_motor(AP_MOTORS_MOT_7,  -67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
-                    add_motor(AP_MOTORS_MOT_8,  112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
+                    add_motor_raw(AP_MOTORS_MOT_1, -1.0f,    1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
+                    add_motor_raw(AP_MOTORS_MOT_2,  1.0f,   -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
+                    add_motor_raw(AP_MOTORS_MOT_3, -1.0f,  0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
+                    add_motor_raw(AP_MOTORS_MOT_4, -1.0f,   -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, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
+                    add_motor_raw(AP_MOTORS_MOT_7,  1.0f,  0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
+                    add_motor_raw(AP_MOTORS_MOT_8, -1.0f, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
                     success = true;
                     break;
                 default: