Motors actual speeds

I am new to PX4. I am using SITL to simulate a quadcopter in Gazebo. The communication between PX4 stack and the simulator is done using MavLink API through these messages: Simulation · PX4 Developer Guide.

Is there anyway to add a message that has the actual motors velocity of the quadcopter (from the simulator to PX4)? Is the motor actual velocity information already provided in the Gazebo motor model or I need to change the model?

Thanks for any guidance!