I wonder if there's some simple variable transmission that could be electronically controlled to deliver power from the motor to the propellers in highly controlled fashion.
A generator and four motors. Efficiency would probably be around 70%. It's about 90% in diesel-electric locomotives where more weight and money is spent on efficient conversion hardware.
This might enable electronic control witout using any motors just one simple coil per propeller. Energy generated through this way of control could be stored to power onboard devices.