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I understand the situation, but your question is a bit broad. It is like asking "where should I go on vacation?" Well... it depends on what your interests are, budget is, time available, etc. We obviously can't fix mom's mental illness, but what would you like to happen?
threats of abduction are pretty serious, and would ordinarily be grounds for an emergency custody order granting mom only limited supervised visitation. Her other bad behavior is definitely not in the child's best interest. It is difficult to estimate whether the circumstances are severe enough to warrant a long-term, dramatic change in the custody order, but the court is typically willing to make a significant adjustment and at least order mom to get some parenting classes and counseling before restoring her a 50/50 arrangement. In short, the facts that you have described would ordinarily be grounds for modifying custody in your favor.
Let me know if I may be of further assistance. Thank you.