diff --git a/sw/airborne/subsystems/actuators/motor_mixing_types.h b/sw/airborne/subsystems/actuators/motor_mixing_types.h
index d0b6fe38da..a08f39796f 100644
--- a/sw/airborne/subsystems/actuators/motor_mixing_types.h
+++ b/sw/airborne/subsystems/actuators/motor_mixing_types.h
@@ -27,12 +27,13 @@
 #define MOTOR_MIXING_TYPES_H
 
 /* already defined common configurations*/
-#define QUAD_PLUS 1
-#define QUAD_X    2
-#define HEXA_X    3
-#define HEXA_PLUS 4
-#define OCTO_X    5
-#define OCTO_PLUS 6
+#define QUAD_PLUS   1
+#define QUAD_X      2
+#define QUAD_X_CCW  3
+#define HEXA_X      4
+#define HEXA_PLUS   5
+#define OCTO_X      6
+#define OCTO_PLUS   7
 
 #if MOTOR_MIXING_TYPE == QUAD_PLUS
 /*
@@ -66,6 +67,22 @@
 #define MOTOR_MIXING_YAW_COEF    { -128,  128, -128,  128 }
 #define MOTOR_MIXING_THRUST_COEF {  256,  256,  256,  256 }
 
+#elif MOTOR_MIXING_TYPE == QUAD_X_CCW
+/*
+ * Quadrotor in time cross (X) configuration with motor order (reversed from QUAD_X):
+ * front left (CCW), front right (CW), back right (CCW), back left (CW)
+ */
+#define MOTOR_FRONT_LEFT  0
+#define MOTOR_FRONT_RIGHT 1
+#define MOTOR_BACK_RIGHT  2
+#define MOTOR_BACK_LEFT   3
+#define MOTOR_MIXING_NB_MOTOR    4
+#define MOTOR_MIXING_SCALE       256
+#define MOTOR_MIXING_ROLL_COEF   {  181, -181, -181,  181 }
+#define MOTOR_MIXING_PITCH_COEF  {  181,  181, -181, -181 }
+#define MOTOR_MIXING_YAW_COEF    {  128, -128,  128, -128 }
+#define MOTOR_MIXING_THRUST_COEF {  256,  256,  256,  256 }
+
 #elif  MOTOR_MIXING_TYPE == HEXA_X
 /*
  * Hexarotor in time cross (X) configuration with motor order: