How to use paintbrush tool to paint objects with stroke AND fill (not just stroke)

I'm trying to paint using the paintbrush tool to create ships with a stroke AND a fill. Right now, when I try to draw a circle for instance it will paint the circle but it will not also fill it in, I'll just have the outline of a circle. Even though I have in my fill and stroke to the colors I want, it will not fill the circle, it just removes my fill and I'm left with a circle outline. I have to manually add in the fill after which slows me down so much. What is the problem here? 

I've attached a video of me demonstrating the problem. The intended effect I want is when I draw the circle, it will also be filled and not just be a stroke.

Thanks in advance to anyone who can help me.