Copter: replace quad trapezoid frame with V

Also update motor mixing

libraries/AP_Motors/AP_MotorsQuad.cpp

@@ -23,12 +23,11 @@ void AP_MotorsQuad::setup_motors()
         add_motor(AP_MOTORS_MOT_2, -90, AP_MOTORS_MATRIX_MOTOR_CCW, 4);
         add_motor(AP_MOTORS_MOT_3,   0, AP_MOTORS_MATRIX_MOTOR_CW,  1);
         add_motor(AP_MOTORS_MOT_4, 180, AP_MOTORS_MATRIX_MOTOR_CW,  3);
-    }else if( _frame_orientation == AP_MOTORS_TRAPEZOID_FRAME ) {
-        // To-Do correct motor mixing properly for trapezoidal frame
-        add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);
-        add_motor(AP_MOTORS_MOT_2, -135, AP_MOTORS_MATRIX_MOTOR_CCW, 3);
-        add_motor(AP_MOTORS_MOT_3,  -45, AP_MOTORS_MATRIX_MOTOR_CW,  4);
-        add_motor(AP_MOTORS_MOT_4,  135, AP_MOTORS_MATRIX_MOTOR_CW,  2);
+    }else if( _frame_orientation == AP_MOTORS_V_FRAME ) {
+        add_motor(AP_MOTORS_MOT_1,   45,  0.8877,  1);
+        add_motor(AP_MOTORS_MOT_2, -135,  1.1123,  3);
+        add_motor(AP_MOTORS_MOT_3,  -45, -0.8877,  4);
+        add_motor(AP_MOTORS_MOT_4,  135, -1.1123,  2);
     }else{
         // X frame set-up
         add_motor(AP_MOTORS_MOT_1,   45, AP_MOTORS_MATRIX_MOTOR_CCW, 1);

libraries/AP_Motors/AP_Motors_Class.h

@@ -35,7 +35,6 @@
 #define AP_MOTORS_PLUS_FRAME        0
 #define AP_MOTORS_X_FRAME           1
 #define AP_MOTORS_V_FRAME           2
-#define AP_MOTORS_TRAPEZOID_FRAME   3
 
 // motor update rate
 #define AP_MOTORS_SPEED_DEFAULT 490