diff --git a/src/action/components.rs b/src/action/components.rs
index 705df20..1652477 100644
--- a/src/action/components.rs
+++ b/src/action/components.rs
@@ -81,11 +81,8 @@ impl Default for CatControllerSettings {
 pub struct CatControllerState {
     pub roll_integral: f32,
     pub roll_prev: f32,
-    pub pitch_integral: f32,
-    pub pitch_prev: f32,
     decay_factor: f32,
     roll_limit: f32,
-    pitch_limit: f32,
 }
 
 impl Default for CatControllerState {
@@ -93,11 +90,8 @@ impl Default for CatControllerState {
         Self {
             roll_integral: Default::default(),
             roll_prev: Default::default(),
-            pitch_integral: Default::default(),
-            pitch_prev: Default::default(),
             decay_factor: 0.99,
             roll_limit: 1.5,
-            pitch_limit: 0.1,
         }
     }
 }
@@ -107,9 +101,6 @@ impl CatControllerState {
         if self.roll_integral.abs() > 0.001 {
             self.roll_integral *= self.decay_factor;
         }
-        if self.pitch_integral.abs() > 0.001 {
-            self.pitch_integral *= self.decay_factor;
-        }
     }
 
     pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) {
@@ -120,16 +111,7 @@ impl CatControllerState {
         (derivative, self.roll_integral)
     }
 
-    pub fn update_pitch(&mut self, error: f32, dt: f32) -> (f32, f32) {
-        let lim = self.pitch_limit;
-        self.pitch_integral = (self.pitch_integral + (error * dt)).min(lim).max(-lim);
-        let derivative = (error - self.pitch_prev) / dt;
-        self.pitch_prev = error;
-        (derivative, self.pitch_integral)
-    }
-
-    pub fn set_integral_limits(&mut self, roll: f32, pitch: f32) {
+    pub fn set_integral_limits(&mut self, roll: f32) {
         self.roll_limit = roll;
-        self.pitch_limit = pitch;
     }
 }
diff --git a/src/action/systems.rs b/src/action/systems.rs
index 88605c9..f119bf5 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -16,8 +16,6 @@ use crate::{
     input::InputState,
 };
 
-const PITCH_SCALE: f32 = 0.2;
-
 fn yaw_to_angle(yaw: f32) -> f32 {
     yaw.powi(3) * FRAC_PI_4
 }
@@ -86,8 +84,6 @@ pub(super) fn falling_cat(
 
     let bike_right = xform.right();
 
-    let world_right = xform.forward().cross(world_up).normalize();
-
     let roll_error = bike_right.dot(target_up);
     let pitch_error = world_up.dot(xform.back());
 
@@ -107,16 +103,6 @@ pub(super) fn falling_cat(
             }
         }
     }
-
-    // we can do pitch correction any time, it's not coupled to roll
-    let scaled_pitch_error = pitch_error * PITCH_SCALE;
-    let (derivative, integral) =
-        control_vars.update_pitch(scaled_pitch_error, time.delta_seconds());
-    let mag =
-        (settings.kp * scaled_pitch_error) + (settings.ki * integral) + (settings.kd * derivative);
-    if mag.is_finite() {
-        forces.torque += world_right * mag;
-    }
 }
 
 /// Apply forces to the cyberbike as a result of input.