This program was all what I was allowed to post in public from a customer's project.
The Mixer() function has to be programmed and has much to do with the geometry of your copter.
In the mixer the 4 signals from the sum-signal (roll,pitch, jaw and speed) get merged with the signals from the positioning system and 4 separate servo signals have to be generated. A simple closed-loop could help stabilizing a copter.
I published the project is just to show that it will be possible to control a copter (even an oktocopter) by a single PSoC4 board.
So you will have to program some algorithms yourself.
Bob - Thanks for the info. and Dana - Thanks for the link. Maybe this other project will give me some ideas for a solution.