Multirotor autopilots often depend on open-loop control without the feedback of propeller speeds, although they are a critical factor in determining motion characteristics. This paper proposes a system that leverages actual propeller speeds as direct feedback to the autopilot to improve the state estimation and dynamics of the multirotor. Software-in-the-Loop (SITL) and Hardware-in-the-Loop (HITL) simulations with real data, in different scenarios, are conducted to demonstrate the impact of combining propeller speeds with typical drone sensors. The results show that the drone becomes more stable with lower trajectory errors. Further, a noticeable reduction in the vehicle position median error while following a trajectory is shown, and a considerable increase in the flying duration time before crashing in case of a motor fault. These results highlight the potential of adding propeller speed feedback to increase the autopilot’s controllability which enhances drone performance in sensitive applications.