Rotating rigidbody

I am rotating an 3D object with camera (as child) and a rigidbody with Mouse and keyboard. I am using the following codesnippet:

Code (CSharp):

1. private void Update()
2.     {
3.  
4.         float rh = Input.GetAxisRaw("Mouse X");
5.         float rv = Input.GetAxisRaw("Mouse Y");
6.         float rx = Input.GetAxisRaw("Roll");
7.  
8.         rotInput = new Vector3(rv, rh, rx);
9.         Thrust();  //Move forward and backward
10.  
11.     }
12.  
13.     private void FixedUpdate()
14.     {
15.         Moving.MoveInput(rotInput);
16.     }

I can move the 3D object (and the camera) with the mouse, but when I look to the left or to the right, the camera is tilting a little diagonal. I want to rotate with the mouse just like a 6DOF game, but with a rigidbody (not with transform.euler....). Does anyone know a solution so that the camera moves exactly in order with the mouse (without tilting diagonal)?

I change the code to:

Code (CSharp):

1. void moveWithMouse()
2. {
3.     moveCamera(Input.GetAxis("Mouse X"), Input.GetAxis("Mouse Y"), arrowMouseSpeed);
4. }
5.  
6. void moveCamera(float horizontal, float verticle, float moveSpeed)
7.     {
8.         mouseX = horizontal;
9.         mouseY = -verticle;
10.  
11.     rotY += mouseX * moveSpeed;
12.     rotX += -mouseY * moveSpeed;
13.     roll += Input.GetAxis("Roll");
14.     rotInput = new Vector3(rotY, rotX, roll);
15.     Debug.Log("rotInput" + rotInput);
16.  
17. }

But now it keeps rotating and I can't stop it. I still use a ridigbody. Is there a solution, so the mouse works correct and the camera stop rotating when I stop moving the mouse?

 

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