
 case MOTOR_FRAME_QUAD:
 switch (frame_type) {
 case MOTOR_FRAME_TYPE_PLUS:
 add_motor(AP_MOTORS_MOT_1, 90, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
 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);
 break;
 case MOTOR_FRAME_TYPE_X:
 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_CCW, 3);
 add_motor(AP_MOTORS_MOT_3, 45, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 4);
 add_motor(AP_MOTORS_MOT_4, 135, AP_MOTORS_MATRIX_YAW_FACTOR_CW, 2);
 break;
 case MOTOR_FRAME_TYPE_BF_X:
 // betaflight quad X order
 // see: https://fpvfrenzy.com/betaflightmotororder/
 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);