AP_Motors: Added Octo I frame

libraries/AP_Motors/AP_MotorsMatrix.cpp

@@ -649,6 +649,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor_raw(AP_MOTORS_MOT_7,  1.0f,  0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
                     add_motor_raw(AP_MOTORS_MOT_8, -1.0f, -0.333f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
                     break;
+                case MOTOR_FRAME_TYPE_I:
+                    add_motor_raw(AP_MOTORS_MOT_1, 0.333f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  1);
+                    add_motor_raw(AP_MOTORS_MOT_2, -0.333f,  1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
+                    add_motor_raw(AP_MOTORS_MOT_3,    1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
+                    add_motor_raw(AP_MOTORS_MOT_4,  0.333f,  1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 4);
+                    add_motor_raw(AP_MOTORS_MOT_5, -0.333f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 8);
+                    add_motor_raw(AP_MOTORS_MOT_6,   -1.0f,  1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
+                    add_motor_raw(AP_MOTORS_MOT_7,   -1.0f, -1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  7);
+                    add_motor_raw(AP_MOTORS_MOT_8,    1.0f,  1.0f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  3);
+                    break;
                 default:
                     // octa frame class does not support this frame type
                     success = false;

libraries/AP_Motors/AP_Motors_Class.h

@@ -58,6 +58,7 @@ public:
         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
+        MOTOR_FRAME_TYPE_I = 15, // (sideways H) octo only
     };
 
     // Constructor