diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 08aea5e80c..5c789282ca 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -874,6 +874,39 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
             }
             break;
 
+        case MOTOR_FRAME_DECA:
+            switch (frame_type) {
+                case MOTOR_FRAME_TYPE_PLUS:
+                    add_motor(AP_MOTORS_MOT_1,     0, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  1);
+                    add_motor(AP_MOTORS_MOT_2,    36, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   2);
+                    add_motor(AP_MOTORS_MOT_3,    72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  3);
+                    add_motor(AP_MOTORS_MOT_4,   108, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   4);
+                    add_motor(AP_MOTORS_MOT_5,   144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  5);
+                    add_motor(AP_MOTORS_MOT_6,   180, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   6);
+                    add_motor(AP_MOTORS_MOT_7,  -144, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  7);
+                    add_motor(AP_MOTORS_MOT_8,  -108, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   8);
+                    add_motor(AP_MOTORS_MOT_9,   -72, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  9);
+                    add_motor(AP_MOTORS_MOT_10,  -36, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  10);
+                    break;
+                case MOTOR_FRAME_TYPE_X:
+                    add_motor(AP_MOTORS_MOT_1,    18, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  1);
+                    add_motor(AP_MOTORS_MOT_2,    54, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   2);
+                    add_motor(AP_MOTORS_MOT_3,    90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  3);
+                    add_motor(AP_MOTORS_MOT_4,   126, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   4);
+                    add_motor(AP_MOTORS_MOT_5,   162, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  5);
+                    add_motor(AP_MOTORS_MOT_6,  -162, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   6);
+                    add_motor(AP_MOTORS_MOT_7,  -126, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  7);
+                    add_motor(AP_MOTORS_MOT_8,   -90, AP_MOTORS_MATRIX_YAW_FACTOR_CW,   8);
+                    add_motor(AP_MOTORS_MOT_9,   -54, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  9);
+                    add_motor(AP_MOTORS_MOT_10,  -18, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  10);
+                    break;
+                default:
+                    // deca frame class does not support this frame type
+                    success = false;
+                    break;
+            }
+            break;
+
         default:
             // matrix doesn't support the configured class
             success = false;
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index de110d5519..1308f747d5 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -44,6 +44,7 @@ public:
         MOTOR_FRAME_HELI_DUAL = 11,
         MOTOR_FRAME_DODECAHEXA = 12,
         MOTOR_FRAME_HELI_QUAD = 13,
+        MOTOR_FRAME_DECA = 14,
     };
     enum motor_frame_type {
         MOTOR_FRAME_TYPE_PLUS = 0,