diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index c6ffedfbbe..722ad098d2 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -588,6 +588,16 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
                     add_motor_raw(AP_MOTORS_MOT_6,  1.0f,  0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 6);
                     success = true;
                     break;
+                case MOTOR_FRAME_TYPE_Y6F:
+                    // Y6 motor layout for FireFlyY6
+                    add_motor_raw(AP_MOTORS_MOT_1,  0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 3);
+                    add_motor_raw(AP_MOTORS_MOT_2, -1.0f,  0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 1);
+                    add_motor_raw(AP_MOTORS_MOT_3,  1.0f,  0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 5);
+                    add_motor_raw(AP_MOTORS_MOT_4,  0.0f, -1.000f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  4);
+                    add_motor_raw(AP_MOTORS_MOT_5, -1.0f,  0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  2);
+                    add_motor_raw(AP_MOTORS_MOT_6,  1.0f,  0.500f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  6);
+                    success = true;
+                    break;
                 default:
                     add_motor_raw(AP_MOTORS_MOT_1, -1.0f,  0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CCW, 2);
                     add_motor_raw(AP_MOTORS_MOT_2,  1.0f,  0.666f, AP_MOTORS_MATRIX_YAW_FACTOR_CW,  5);
diff --git a/libraries/AP_Motors/AP_Motors_Class.h b/libraries/AP_Motors/AP_Motors_Class.h
index 8f490ac2fb..fe20a70452 100644
--- a/libraries/AP_Motors/AP_Motors_Class.h
+++ b/libraries/AP_Motors/AP_Motors_Class.h
@@ -44,7 +44,8 @@ public:
         MOTOR_FRAME_TYPE_H = 3,
         MOTOR_FRAME_TYPE_VTAIL = 4,
         MOTOR_FRAME_TYPE_ATAIL = 5,
-        MOTOR_FRAME_TYPE_Y6B = 10
+        MOTOR_FRAME_TYPE_Y6B = 10,
+        MOTOR_FRAME_TYPE_Y6F = 11 // for FireFlyY6
     };
 
     // Constructor