Get character to stick to moving surface

I’m trying to create a space ship that characters would be able to walk around in and interact with. Currently if adjust linear speed and then pass the ship’s velocity to the characters they work as expected and can walk around the ship, but if I rotate the ship, the characters slide to the left or right slightly as the ship rotates.

I have already got the characters to align themselves to the ground as the ship rotates, but I can’t get them to stay in one place while the ship’s angular velocity is nonzero.

Any ideas?

Most games create two ships, One that flys, and one that your characters can walk in.