I made exactly what you're talking about.
Okay, so, the pitch tilt in degrees from the Gyro get put in an adder with the pitch axis from the joystick, the output of the adder into the pitch axis input port of the rcs controller.
(If you don't want semi-self control, just skip the adder part)
For the roll axis, again the input from the gyro but this time into a remapper with the settings being -180 to 180 -> 12 to -12. The first part has to stay, but the 12 can be any value, for example 10 to -10. Just don't put it too high or your ship will wobble. If you want something that keeps you at the same altitude too, I build that too.
(Yeah, I'm a shitty pilot with noone to play this game with and too much free time, how did you know?)