A3 as roll, A4 as pitch

Fixed roll/pitch.
Revert "A3 as roll, A4 as pitch"

This reverts commit b4af39a2fc57a9a4d539480bf40b07958b4f2aae.
Revert "Revert "A3 as roll, A4 as pitch""

This reverts commit 245c1975d637107a32f34b63c6a1f4043855eefe.