Arduino uno input for copter control

Hey there
Ive been building an Arduino Uno based quadcopter over the last few months and been hooped on trying to get it off the ground. The main limitation is lack of processing power to run all 4 servos, a XBee S1, and adafruit GPS.
I’m looking at getting an APM 2.5 but the quadcopter project I’m working on relies on the quadcopter receiving inputs from an Arduino Uno. Essentially, an Arduino controller takes in analog data from various sensors Pins then relays them to the quadcopter. Based on the data received the quadcopter will adjust its position based on GPS coordinates.
Am I over my head with this project?