diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 441a44e711..f20bb576a3 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -642,6 +642,14 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor(AP_MOTORS_MOT_5,  150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
                     add_motor(AP_MOTORS_MOT_6,   90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
                     break;
+                case MOTOR_FRAME_TYPE_CW_X:
+                    add_motor(AP_MOTORS_MOT_1,   30, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
+                    add_motor(AP_MOTORS_MOT_2,   90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
+                    add_motor(AP_MOTORS_MOT_3,  150, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
+                    add_motor(AP_MOTORS_MOT_4, -150, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
+                    add_motor(AP_MOTORS_MOT_5,  -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
+                    add_motor(AP_MOTORS_MOT_6,  -30, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6);
+                    break;
                 default:
                     // hexa frame class does not support this frame type
                     success = false;
@@ -711,6 +719,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor(AP_MOTORS_MOT_7,  112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
                     add_motor(AP_MOTORS_MOT_8,   67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
                     break;
+                case MOTOR_FRAME_TYPE_CW_X:
+                    add_motor(AP_MOTORS_MOT_1,   22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
+                    add_motor(AP_MOTORS_MOT_2,   67.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
+                    add_motor(AP_MOTORS_MOT_3,  112.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
+                    add_motor(AP_MOTORS_MOT_4,  157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
+                    add_motor(AP_MOTORS_MOT_5, -157.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
+                    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,  -22.5f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  8);
+                    break;
                 default:
                     // octa frame class does not support this frame type
                     success = false;
@@ -761,6 +779,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor(AP_MOTORS_MOT_7,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
                     add_motor(AP_MOTORS_MOT_8, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
                     break;
+                case MOTOR_FRAME_TYPE_CW_X:
+                    add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
+                    add_motor(AP_MOTORS_MOT_2,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
+                    add_motor(AP_MOTORS_MOT_3,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
+                    add_motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
+                    add_motor(AP_MOTORS_MOT_5, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
+                    add_motor(AP_MOTORS_MOT_6, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6);
+                    add_motor(AP_MOTORS_MOT_7,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 7);
+                    add_motor(AP_MOTORS_MOT_8,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  8);
+                    break;
                 default:
                     // octaquad frame class does not support this frame type
                     success = false;