diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 37d3ef64b8..561c74cc82 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -484,6 +484,33 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
                     success = true;
                     break;
+                case MOTOR_FRAME_TYPE_BF_X:
+                    // betaflight quad X order
+                    // see: https://fpvfrenzy.com/betaflight-motor-order/
+                    add_motor(AP_MOTORS_MOT_1,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
+                    add_motor(AP_MOTORS_MOT_2,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,1);
+                    add_motor(AP_MOTORS_MOT_3, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,3);
+                    add_motor(AP_MOTORS_MOT_4,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
+                    success = true;
+                    break;
+                case MOTOR_FRAME_TYPE_DJI_X:
+                    // DJI quad X order
+                    // see https://forum44.djicdn.com/data/attachment/forum/201711/26/172348bppvtt1ot1nrtp5j.jpg
+                    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,  4);
+                    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,  2);
+                    success = true;
+                    break;
+                case MOTOR_FRAME_TYPE_CW_X:
+                    // "clockwise X" motor order. Motors are ordered clockwise from front right
+                    // matching test order
+                    add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
+                    add_motor(AP_MOTORS_MOT_2,  135, 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,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
+                    success = true;
+                    break;
                 case MOTOR_FRAME_TYPE_V:
                     add_motor(AP_MOTORS_MOT_1,   45,  0.7981f,  1);
                     add_motor(AP_MOTORS_MOT_2, -135,  1.0000f,  3);
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 3163a5eda2..841b7b3288 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -54,7 +54,10 @@ public:
         MOTOR_FRAME_TYPE_ATAIL = 5,
         MOTOR_FRAME_TYPE_PLUSREV = 6, // plus with reversed motor direction
         MOTOR_FRAME_TYPE_Y6B = 10,
-        MOTOR_FRAME_TYPE_Y6F = 11 // for FireFlyY6
+        MOTOR_FRAME_TYPE_Y6F = 11, // for FireFlyY6
+        MOTOR_FRAME_TYPE_BF_X = 12, // X frame, betaflight ordering
+        MOTOR_FRAME_TYPE_DJI_X = 13, // X frame, DJI ordering
+        MOTOR_FRAME_TYPE_CW_X = 14, // X frame, clockwise ordering
     };
 
     // Constructor