The Phantom 4 series has a lot of improvements over the Phantom 3 series. You can find a detailed list of new features for the Phantom 4 in this thread.
The P4A (and P4P) have a few additional features over the Phantom 4 (most notably the upgraded camera). This video discusses the extra features added in the P4A (and P4P).
If you'd like to take a closer look at the specs, you can review a detailed list of specs here.
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