I can do it from time to time but theres always sometime where i freakout in midair and just come down on my heels
That's why you don't practice the roll by jumping off of things. You start out standing on the ground (or even kneeling) and practice the movement on soft grass or mulch or a mat or something. Watch the tutorials and really
analyze what they're doing. Try to imitate exactly how they do it.
After
every single roll you do, analyze what you did, how it felt, and what adjustments you could possibly do to fix any problems. And do it again....again....again...again...again.
Repetition is the key. You will literally do the roll hundreds of times before you actually get it down. Practice practice practice...that's the ONLY way. If you're inclined against repetition, well, then....you read my first post.