RigidBody Character Controller Bug

I have been working on this character controller for a while, but there is a bug that has stumped me for several weeks now. What I am trying to achieve is when the character falls, say off of a ledge, it will fall over and when it hits the ground roll around a bit slow down and finally get up. What happens at the moment is that the character can fall of a ledge, act like a rigidbody, but when it hits the ground it just snaps back up instantly. I don't have any idea what is going on here. Code:

 using UnityEngine;
 using System.Collections;
 
 public class PlayerControl : MonoBehaviour {
 
     public float acceleration = 10;
     public float maxSpeed = 5;
     public float jump = 150;
     public bool grounded;
     public Transform camera;
     public float lerp = 1;
     public float fallSpeed = 10;
     public float health = 100;
     public float fallDamage = 0.1f;
     public bool fall;
     public float damage;
 
     float mouseSensitivity;
     float horizontalRot = 0.0f;
     float currentYRot;
     float yRotV;
     public float maxSlope = 70.0f;
     Vector2 horizontalMove;
 
 
     void Start () 
     {
         mouseSensitivity = camera.GetComponent<CameraControl>().mouseSensitivity;
     }
     
     void Update () 
     {
         if(Physics.Raycast(transform.position, new Vector3(0, -1, 0), 1))
         {
             Grounded();
             fall = false;
             Move();
         }
         else
         {
             grounded = false;
             Fall();
         }
         
 
         //if(rigidbody.velocity.magnitude >= maxSpeed + 3)
         //{
         //    Fall();
         //}
 
         //horizontalRot += Input.GetAxis("Mouse X") * mouseSensitivity;
         //currentYRot = Mathf.SmoothDamp(currentYRot, horizontalRot, ref yRotV, smoothDamp);
         if(!fall)
         {
             transform.rotation = Quaternion.Euler(transform.rotation.x, camera.transform.rotation.eulerAngles.y, transform.rotation.z);
         }
 
 
         horizontalMove = new Vector2(rigidbody.velocity.x, rigidbody.velocity.z);
         if(horizontalMove.magnitude > maxSpeed)
         {
             horizontalMove = horizontalMove.normalized;
             horizontalMove *= maxSpeed;
         }
         rigidbody.velocity = new Vector3(horizontalMove.x, rigidbody.velocity.y, horizontalMove.y);
     }
 
     void Fall()
     {
         rigidbody.constraints = RigidbodyConstraints.None;
         grounded = false;
         fall = true;
 
         //while(rigidbody.velocity.magnitude <= 0.2f)
         //{
         //    gameObject.transform.eulerAngles = new Vector3(0, gameObject.transform.eulerAngles.y, 0);
         //    fall = false;
         //}
     }
 
     void Grounded()
     {
         rigidbody.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY | RigidbodyConstraints.FreezeRotationZ;
         grounded = true;
     }
 
     void Move()
     {
         if(grounded && !fall)
         {
             rigidbody.AddRelativeForce(Input.GetAxis("Horizontal") * acceleration, 0, Input.GetAxis("Vertical") * acceleration);
             
             if(Input.GetKeyDown(KeyCode.Space))
             {
                 transform.rigidbody.AddForce(Vector3.up * jump);
             }
         }
     }
 }

Any answer that leads in the right direction is appreciated, thanks!