Roll, pitch and yaw
From RC Helicopter Wiki
Roll, pitch and yaw are rotations along the natural axes of the helicopter (or any aircraft).
A rolling movement is where the helicopter rotates along a line along its length using lateral cyclic inputs (aileron), eventually turning from right way up to inverted while maintaining the helicopter's heading.
A pitching movement (sometimes called nick, from the German to nod) is where the helicopter's nose rises or falls relative to the tail, using longitudinal cyclic inputs (elevator). Not to be confused with blade pitch or collective pitch.
A properly trimmed helicopter will have minimal tendency to rotate in any of these dimensions when the controls are released.
- Flight dynamics on Wikipedia.
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