diff --git a/src/action/systems.rs b/src/action/systems.rs
index 19b9ad9..02208ce 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -67,8 +67,8 @@ pub(super) fn cyber_lean(
     let centripetal = -right * (mass_props.0.mass * v2_r);
 
     if v2_r.is_normal() {
-        forces.force += centripetal;
-        lean.lean = -tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4);
+        //forces.force += centripetal;
+        lean.lean = tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4);
     }
 }
 
@@ -81,23 +81,20 @@ pub(super) fn falling_cat(
     #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
 ) {
     let (xform, mut forces, mut control_vars) = bike_query.single_mut();
-    let wup = xform.translation.normalize(); //Transform::from_translation(xform.translation.normalize());
-    let rot = Quat::from_axis_angle(xform.forward(), lean.lean);
-    let [x, y, z] = wup.to_array();
-    let qup = Quat::from_xyzw(x, y, z, 0.0); // turn our "world up" point into a Quat
-
+    let world_up = xform.translation.normalize();
+    let [x, y, z] = world_up.to_array();
+    // turn our "world up" point into a Quat
+    let qup = Quat::from_xyzw(x, y, z, 0.0);
     // p' = rot^-1 * qup * rot
-    let wup = rot.inverse() * qup * rot;
-    let wup = Vec3::from_array([wup.x, wup.y, wup.z]).normalize();
-    let bike_up = xform.up();
+    let rot = Quat::from_axis_angle(xform.back(), lean.lean);
+    let rot_qup = rot.inverse() * qup * rot;
+    let target_up = -Vec3::from_array([rot_qup.x, rot_qup.y, rot_qup.z]).normalize();
+    let bike_right = xform.right();
 
-    let wright = xform
-        .forward()
-        .cross(xform.translation.normalize())
-        .normalize();
+    //let world_right = xform.forward().cross(world_up).normalize();
 
-    let roll_error = wright.dot(wup);
-    let pitch_error = xform.translation.normalize().dot(xform.forward());
+    let roll_error = bike_right.dot(target_up);
+    let pitch_error = world_up.dot(xform.forward());
 
     // only try to correct roll if we're not totally vertical
     if pitch_error.abs() < 0.95 {
@@ -109,8 +106,8 @@ pub(super) fn falling_cat(
         }
         #[cfg(feature = "inspector")]
         {
-            if debug_instant.elapsed().as_millis() > 5000 {
-                dbg!(&control_vars, mag, &wup);
+            if debug_instant.elapsed().as_millis() > 1000 {
+                dbg!(&control_vars, mag, &target_up);
                 debug_instant.reset();
             }
         }