diff --git a/libraries/AP_Motors/AP_MotorsQuad.cpp b/libraries/AP_Motors/AP_MotorsQuad.cpp
index 6c8f52eed1..a60908448f 100644
--- a/libraries/AP_Motors/AP_MotorsQuad.cpp
+++ b/libraries/AP_Motors/AP_MotorsQuad.cpp
@@ -23,18 +23,21 @@ void AP_MotorsQuad::setup_motors()
         add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
         add_motor(AP_MOTORS_MOT_3,   0, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
         add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
+
     }else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
         // V frame set-up
         add_motor(AP_MOTORS_MOT_1,   45,  0.7981,  1);
         add_motor(AP_MOTORS_MOT_2, -135,  1.0000,  3);
         add_motor(AP_MOTORS_MOT_3,  -45, -0.7981,  4);
         add_motor(AP_MOTORS_MOT_4,  135, -1.0000,  2);
+
     }else if( _frame_orientation == AP_MOTORS_H_FRAME ) {
-        // H frame set-up - same as X but motors spin in opposite directions
-        add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 1);
-        add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 3);
-        add_motor(AP_MOTORS_MOT_3,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  4);
-        add_motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW,  2);
+        // H frame set-up - same as X but motors spin in opposite directiSons
+        add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
+        add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
+        add_motor(AP_MOTORS_MOT_3,  -45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
+        add_motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
+
     }else{
         // X frame set-up
         add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);