Autonomous multirotor drones as a popular type of Unmanned Aerial Vehicles (UAVs) have a tremendous potential to facilitate activities such as logistics, emergency response, recording video, capturing special events, and traffic management. Despite the potential benefits the possibility of harming people during operation should be considered. This paper focuses on modeling the multirotor drones’ propulsion system with Markov chains. Using the proposed model, both reliability and Mean Time To Failure (MTTF) of the propulsion system are evaluated. This study proposes a fault detection and recovery system based on a Markov Model for mission control of multirotor drones. Concretely, the proposed system aims to reduce potential injuries by increasing safety.