Flight sim type game

Im having some problems with opengl, flightsims and cameras
first of all, to move and rotate the camera i do:

glRotatef(camera.angles[ROLL], 0.0f, 0.0f, 1.0f);
glRotatef(camera.angles[PITCH], 1.0f, 0.0f, 0.0f);
glRotatef(camera.angles[YAW], 0.0f, 1.0f, 0.0f);
glTranslatef(camera.origin[0], camera.origin[1], camera.origin[2]);

Then i draw all the stuff. You can press the arrow keys to rotate the spacecraft similar to a flight-sim:

change in yaw = sin(roll)*turn speed
change in pitch = cos(roll)*turn speed

for some reason, when the pitch gets > 90 and < 270, so around 180, everything screws up and it doesnt pitch up, but when you pull up it starts rotating sideways.
I tried changing the order of the glRotatef stuff, but that just makes it screw up when the yaw gets around 180
There is a way to do this, i saw it on a web page about this game called Airlock, it said something about using quarters or something instead of euler angles

This really isn’t an Advanced question, and it has been covered seventeen billion times already on this forum and many, many others. Try a search for “gimbal lock” and/or “quaternion”.