A compound of formula wherein A is alkylene, hydroxyalkylene, -CH 2 C -, -C -, -SO 2 - or absent; R 1 is hydrogen, alkyl, haloalkyl, hydroxyl, alkoxy, haloalkoxy, phenyl, halophenyl, alkoxyphenyl, haloalkylphenyl, haloalkoxyphenyl, cyanophenyl, hydroxyalkoxyphenyl, alkylsulfonylphenyl, alkylsulfonylaminophenyl, (halo)(haloalkyl)phenyl, (halo)(alkoxy)phenyl, cyano, cycloalkyl, cycloalkylalkoxy, amino, heterocyclyl, alkylheterocyclyl, hydroxyheterocyclyl, alkylheterocyclyl, heteroaryl, haloheteroaryl, alkylheteroaryl, (alkyl)(alkylsulfonyl)heteroaryl, (halo)(alkylamino)heteroaryl, haloalkylheteroaryl, cycloalkylheteroaryl or nitro-benzo[1,2,5]oxadiazolylaminoheteroaryl, wherein heterocyclyl is a three to eight membered carbocyclic ring comprising at least one nitrogen or oxygen atom, and wherein heteroaryl is pyridinyl, pyrazolyl, oxadiazolyl, furazanyl, tetrazolyl, triazolyl or oxypyridinyl; R 2 is alkyl, haloalkyl, hydroxyalkyl, alkoxyalkyl, cycloalkoxyalkyl, cycloalkylalkoxy, haloalkoxy, alkoxy or alkylamino; R 3 is halogen or -NR 4 R 5; one of R 4 and R 5 is hydrogen or alkyl and the other one is alkyl or cycloalkyl; or R 4 and R 5 together with the nitrogen atom to which they are attached form heterocyclyl or substituted heterocyclyl, wherein heterocyclyl is morpholinyl, piperidinyl, piperazinyl, pyrrolidinyl, 2-oxa-6-azaspiro[3.3]heptyl, azetidinyl, thiazolidinyl, thiomorpholinyl, dioxothiomorpholinyl, oxazepanyl, 2-oxa-6-azaspiro[3.4]octyl, 6-oxa-1-azaspiro[3.3]heptyl, 2-oxa-5-aza-spiro[3.4]octyl, isoxazolidinyl, aziridinyl or dioxoisothiazolidinyl and wherein substituted heterocyclyl is heterocyclyl substituted with one to four substituents independently selected from alkyl, halogen, hydroxyl, alkoxy, hydroxyalkyl, carboxyl, alkoxyalkyl, cyano and alkylcarbonylamino; or a pharmaceutically acceptable salt or ester thereof. A is alkylene, hydroxyalkylene, -CH 2 C -, -C -, -SO 2 - or absent; R 1 is hydrogen, alkyl, haloalkyl, hydroxyl, alkoxy, haloalkoxy, phenyl, halophenyl, alkoxyphenyl, haloalkylphenyl, haloalkoxyphenyl, cyanophenyl, hydroxyalkoxyphenyl, alkylsulfonylphenyl, alkylsulfonylaminophenyl, (halo)(haloalkyl)phenyl, (halo)(alkoxy)phenyl, cyano, cycloalkyl, cycloalkylalkoxy, amino, heterocyclyl, alkylheterocyclyl, hydroxyheterocyclyl, alkylheterocyclyl, heteroaryl, haloheteroaryl, alkylheteroaryl, (alkyl)(alkylsulfonyl)heteroaryl, (halo)(alkylamino)heteroaryl, haloalkylheteroaryl, cycloalkylheteroaryl or nitro-benzo[1,2,5]oxadiazolylaminoheteroaryl, wherein heterocyclyl is a three to eight membered carbocyclic ring comprising at least one nitrogen or oxygen atom, and wherein heteroaryl is pyridinyl, pyrazolyl, oxadiazolyl, furazanyl, tetrazolyl, triazolyl or oxypyridinyl; R 2 is alkyl, haloalkyl, hydroxyalkyl, alkoxyalkyl, cycloalkoxyalkyl, cycloalkylalkoxy, haloalkoxy, alkoxy or alkylamino; R 3 is halogen or -NR 4 R 5; one of R 4 and R 5 is hydrogen or alkyl and the other one is alkyl or cycloalkyl; or R 4 and R 5 together with the nitrogen atom to which they are attached form heterocyclyl or substituted heterocyclyl, wherein heterocyclyl is morpholinyl, piperidinyl, piperazinyl, pyrrolidinyl, 2-oxa-6-azaspiro[3.3]heptyl, azetidinyl, thiazolidinyl, thiomorpholinyl, dioxothiomorpholinyl, oxazepanyl, 2-oxa-6-azaspiro[3.4]octyl, 6-oxa-1-azaspiro[3.3]heptyl, 2-oxa-5-aza-spiro[3.4]octyl, isoxazolidinyl, aziridinyl or dioxoisothiazolidinyl and wherein substituted heterocyclyl is heterocyclyl substituted with one to four substituents independently selected from alkyl, halogen, hydroxyl, alkoxy, hydroxyalkyl, carboxyl, alkoxyalkyl, cyano and alkylcarbonylamino;