Not just a "Quite easy" project.
A PSoC4 will not beable to control BLDC motors directly, this can be done using a PSoC5 CY8CKIT-059.
You will need a sensor to capture the orientation. These usually are interfaced with I2C
The motors (4-8) can be controlled using a PWM and BLDC drivers.
For the IMU and AHRS software see here.