Transform rapidly spins when flipped upside down.

Hello all, I am programming a game where the character is a bug that sticks to walls. The system works perfectly fine, until you go upside down. Once the character climbs to a point where a wall turns into a ceiling (at or very close to 180 degrees in the x axis) the character starts glitching up and rapidly rotating.

The following code has been modified to remove excess stuff, if the additional code is needed, I can paste the full thing of it.

 var gravity : Vector3 = Vector3(0,20,0);
 var isGrounded: boolean;
 var deltaGround: float = 0.2; // character is grounded up to this distance
 var PredictionAccuracy : float = 5;
 private var myNormal: Vector3; // character normal
 private var QNormal : Quaternion;
 private var turnAngle: float = 0; // current character direction
 var isJumping : boolean = false; // flag "I'm jumping to wall"
 private var RotationX = 0.0; 

function FixedUpdate(){

 var ray: Ray;
 var hit: RaycastHit;
 
 // rotate character to myNormal...

 var rot = Quaternion.FromToRotation(Vector3.up, myNormal);
 RotationX -= Input.GetAxis("Mouse X") / 15;
 var v : Vector3 = Vector3(Mathf.Cos(RotationX),0,Mathf.Sin(RotationX));
 var angle : float = Mathf.Atan2(v.x,v.z)*Mathf.Rad2Deg;
 turnAngle = angle;
 rot *= Quaternion.Euler(0,turnAngle,0); // and to current direction
 transform.rotation = rot;
 ray = Ray(transform.position, -myNormal); // cast ray downwards
 if (Physics.Raycast(ray, hit, (deltaGround-0.1)*2)){ // use it to update myNormal and isGrounded
     isGrounded = hit.distance <= deltaGround;
     if(isGrounded == true){
         QNormal = Quaternion.LookRotation(myNormal);
         QNormal = Quaternion.Slerp(QNormal, Quaternion.LookRotation(hit.normal), Time.deltaTime * 12);
         myNormal = QNormal*Vector3.forward;
     }
 }else{
     isGrounded = false;
 }
 
 if(isGrounded == false){
     PredictLanding();
     myNormal = QNormal*Vector3.forward;
 }
 }
     

}

 function PredictLanding(){//The entire point of this function is to chart a trajectory when the character jumps.  It then looks at the normal of the face where it will land and rotates the player so he will land perfectly on it.
     var hit: RaycastHit;
     var ARay = new Ray[PredictionAccuracy];
     var Vel : Vector3 = Vector3(0,0,0);
     for(i = 0; i < PredictionAccuracy; i++){
         var Pos : Vector3 = Vector3((rigidbody.velocity.x*i)/PredictionAccuracy,((rigidbody.velocity.y+Vel.y)*i)/PredictionAccuracy,(rigidbody.velocity.z*i)/PredictionAccuracy);        
         Vel -=gravity/PredictionAccuracy;
         var Pos2 : Vector3 = Vector3((rigidbody.velocity.x*(i+1))/PredictionAccuracy,((rigidbody.velocity.y+Vel.y)*(i+1))/PredictionAccuracy,(rigidbody.velocity.z*(i+1))/PredictionAccuracy);
         Debug.DrawLine(transform.position + Pos,transform.position + Pos2);
         ARay[i] = Ray(transform.position+Pos, Pos2);
         if (Physics.Raycast(ARay[i], hit, (rigidbody.velocity.magnitude*(deltaGround-0.1)*2)/PredictionAccuracy)){ // use it to update myNormal and isGrounded
             QNormal = Quaternion.LookRotation(myNormal);
             QNormal = Quaternion.Slerp(QNormal, Quaternion.LookRotation(hit.normal), Time.deltaTime * 4);
             return;
         }else {
             QNormal = Quaternion.LookRotation(myNormal);
             QNormal = Quaternion.Slerp(QNormal, Quaternion.LookRotation(Vector3.up), Time.deltaTime * 4);
         }
     }
 }

I have tried changing the Quaternion.Euler values to other things but to no avail. After looking at the rotation values in the inspector, it looks like a combination of all 3 rotations are rapidly spazzing out as soon as it flips totally (or near totally) upside down. The glitch is incredibly disruptive because it limits me to designing courses that never go upside down, which is really a downer in a game that relies on sticking to walls. Some more information on the glitch is that the character seems drawn to go downwards. If you are on a sphere and position yourself and your angle such that you are going perfectly alone the equator of the sphere, it will quickly turn you if you go forward to draw you to the bottom. And the problem is, as soon as you reach the bottom of the sphere, I assume it is trying to continue downward when you are already upside down, so it just flips out. Any advice on how to fix the issue?