Thanks Tiger Tao, I added this line "my.roll += 0.1* ang(temp.z - my.roll); " to the code and now the angles are adjusted as they should. Though I do not think that I will use it now.... I am "playing" with my.tilt values but still can't make the movement be smooth enough. I think this code is perfect for human movements or some other objects, but not for vehicles. So, I will definitely use it, but for other purposes. The bad thing is that I do not yet understand the math behind this script, I need time to figure it out. Thank you anyways.