diff --git a/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp b/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
index 021b74f502..efcacc23cc 100644
--- a/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
+++ b/libraries/AP_HAL_Linux/RCOutput_Bebop.cpp
@@ -15,15 +15,6 @@
 /* BEBOP BLDC motor controller address and registers description */
 #define BEBOP_BLDC_I2C_ADDR 0x08
 #define BEBOP_BLDC_STARTPROP 0x40
-#define BEBOP_BLDC_CLOCKWISE 1
-#define BEBOP_BLDC_COUNTERCLOCKWISE 0
-
-static const uint8_t bebop_motors_bitmask = (BEBOP_BLDC_COUNTERCLOCKWISE  <<
-    (BEBOP_BLDC_MOTORS_NUM - 1 - BEBOP_BLDC_LEFT_BACK)) |
-    (BEBOP_BLDC_CLOCKWISE << (BEBOP_BLDC_MOTORS_NUM - 1 - BEBOP_BLDC_RIGHT_BACK))|
-    (BEBOP_BLDC_COUNTERCLOCKWISE  << (BEBOP_BLDC_MOTORS_NUM - 1 - BEBOP_BLDC_RIGHT_FRONT))|
-    (BEBOP_BLDC_CLOCKWISE << (BEBOP_BLDC_MOTORS_NUM - 1 - BEBOP_BLDC_LEFT_FRONT));
-
 
 #define BEBOP_BLDC_SETREFSPEED 0x02
 struct bldc_ref_speed_data {
@@ -57,19 +48,6 @@ struct bldc_obs_data {
 
 #define BEBOP_BLDC_GET_INFO 0xA0
 
-/* Bebop is a Quad X so the channels are :
- * 1 = Front Right
- * 2 = Back Left
- * 3 = Front Left
- * 4 = Back Right
- *
- * but the channels start at 0 so it is channel num - 1
-*/
-static const uint8_t bebop_bldc_motors[BEBOP_BLDC_MOTORS_NUM] = { BEBOP_BLDC_RIGHT_FRONT,
-                                                                  BEBOP_BLDC_LEFT_BACK,
-                                                                  BEBOP_BLDC_LEFT_FRONT,
-                                                                  BEBOP_BLDC_RIGHT_BACK };
-
 #define BEBOP_BLDC_MIN_PERIOD_US 1100
 #define BEBOP_BLDC_MAX_PERIOD_US 1900
 #define BEBOP_BLDC_MIN_RPM 3000
@@ -147,6 +125,21 @@ void RCOutput_Bebop::_set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM])
     _i2c_sem->give();
 }
 
+bool RCOutput_Bebop::_get_info(struct bldc_info *info)
+{
+    if (info == NULL) {
+        return false;
+    }
+    memset(info, 0, sizeof(struct bldc_info));
+    if (!_i2c_sem->take(0)) {
+        return false;
+    }
+    hal.i2c1->readRegisters(BEBOP_BLDC_I2C_ADDR, BEBOP_BLDC_GET_INFO,
+                            sizeof(struct bldc_info), (uint8_t *)info);
+    _i2c_sem->give();
+    return true;
+}
+
 int RCOutput_Bebop::read_obs_data(BebopBLDC_ObsData &obs)
 {
     struct bldc_obs_data data;
@@ -373,9 +366,38 @@ void RCOutput_Bebop::_run_rcout()
     uint8_t i;
     int ret;
     struct timespec ts;
+    struct bldc_info info;
+    uint8_t bebop_bldc_channels[BEBOP_BLDC_MOTORS_NUM];
+    uint8_t bebop_bldc_right_front, bebop_bldc_left_front,
+            bebop_bldc_left_back, bebop_bldc_right_back;
 
     memset(current_period_us, 0, sizeof(current_period_us));
 
+    if (!_get_info(&info)) {
+        AP_HAL::panic("failed to get BLDC info\n");
+    }
+
+    /* Set motor order depending on BLDC version.On bebop 1 with version 1
+     * keep current order. The order changes from version 2 on bebop 1 and
+     * remains the same as this for bebop 2
+     */
+    if (info.version_maj == 1) {
+        bebop_bldc_right_front = BEBOP_BLDC_MOTOR_1;
+        bebop_bldc_left_front  = BEBOP_BLDC_MOTOR_2;
+        bebop_bldc_left_back   = BEBOP_BLDC_MOTOR_3;
+        bebop_bldc_right_back  = BEBOP_BLDC_MOTOR_4;
+    } else {
+        bebop_bldc_right_front = BEBOP_BLDC_MOTOR_2;
+        bebop_bldc_left_front  = BEBOP_BLDC_MOTOR_1;
+        bebop_bldc_left_back   = BEBOP_BLDC_MOTOR_4;
+        bebop_bldc_right_back  = BEBOP_BLDC_MOTOR_3;
+    }
+
+    bebop_bldc_channels[0] = bebop_bldc_right_front;
+    bebop_bldc_channels[1] = bebop_bldc_left_back;
+    bebop_bldc_channels[2] = bebop_bldc_left_front;
+    bebop_bldc_channels[3] = bebop_bldc_right_back;
+
     while (true) {
         pthread_mutex_lock(&_mutex);
         ret = clock_gettime(CLOCK_MONOTONIC, &ts);
@@ -402,7 +424,7 @@ void RCOutput_Bebop::_run_rcout()
         for (i = 0; i < BEBOP_BLDC_MOTORS_NUM; i++) {
             if (current_period_us[i] <= _min_pwm + 50)
                 break;
-            _rpm[bebop_bldc_motors[i]] = _period_us_to_rpm(current_period_us[i]);
+            _rpm[bebop_bldc_channels[i]] = _period_us_to_rpm(current_period_us[i]);
         }
 
         if (i < BEBOP_BLDC_MOTORS_NUM) {
diff --git a/libraries/AP_HAL_Linux/RCOutput_Bebop.h b/libraries/AP_HAL_Linux/RCOutput_Bebop.h
index b0e7a2536b..672e2f61eb 100644
--- a/libraries/AP_HAL_Linux/RCOutput_Bebop.h
+++ b/libraries/AP_HAL_Linux/RCOutput_Bebop.h
@@ -4,10 +4,10 @@
 #include "AP_HAL_Linux.h"
 
 enum bebop_bldc_motor {
-    BEBOP_BLDC_RIGHT_FRONT = 0,
-    BEBOP_BLDC_LEFT_FRONT,
-    BEBOP_BLDC_LEFT_BACK,
-    BEBOP_BLDC_RIGHT_BACK,
+    BEBOP_BLDC_MOTOR_1 = 0,
+    BEBOP_BLDC_MOTOR_2,
+    BEBOP_BLDC_MOTOR_3,
+    BEBOP_BLDC_MOTOR_4,
     BEBOP_BLDC_MOTORS_NUM,
 };
 
@@ -47,6 +47,17 @@ public:
     uint8_t temperature;
 };
 
+struct bldc_info {
+    uint8_t version_maj;
+    uint8_t version_min;
+    uint8_t type;
+    uint8_t n_motors;
+    uint16_t n_flights;
+    uint16_t last_flight_time;
+    uint32_t total_flight_time;
+    uint8_t last_error;
+}__attribute__((packed));
+
 class Linux::RCOutput_Bebop : public AP_HAL::RCOutput {
 public:
     RCOutput_Bebop();
@@ -83,6 +94,7 @@ private:
     void _start_prop();
     void _toggle_gpio(uint8_t mask);
     void _set_ref_speed(uint16_t rpm[BEBOP_BLDC_MOTORS_NUM]);
+    bool _get_info(struct bldc_info *info);
     void _stop_prop();
     void _clear_error();
     void _play_sound(uint8_t sound);