Question Correctly smoothly decrease pitch & roll (but no yaw) angles

Hello, I'm trying to implement dirijible controlling, and have to smoothly decrease pitch (added by user) and roll (collision result) angles without affecting the yaw component. I moved center of mass to the bottom of rigid body, but that had no effect. So, I have to decrease the pitch angle myself in the FixedUpdate:

Code (CSharp):

1. if (!_inputHandler.IsVerticalRotationPressed)
2.             {
3.                 if (verticalAngle > Constants.MovementConfig.MinVerticalAngle)
4.                 {
5.                     float diff = _rigidBody.rotation.eulerAngles.x < 180 ? 0.1f : -0.1f;
6.                     _rigidBody.MoveRotation(Quaternion.AngleAxis(diff, transform.localToWorldMatrix.MultiplyVector(Vector3.left)) * _rigidBody.rotation);
7.                     _targetRotation = _rigidBody.rotation;
8.                 }
9.                 else
10.                 {
11.                     Quaternion temp = _rigidBody.rotation;
12.                     Vector3 eulerAngles = temp.eulerAngles;
13.                     eulerAngles.x = 0;
14.                     _rigidBody.rotation = Quaternion.Euler(eulerAngles);
15.                     _targetRotation = _rigidBody.rotation;
16.                 }
17.             }

Maybe, there are some more clean way to do that exists?