A method and system for controlling lateral tilt of a header of an agricultural machine, uses gauge wheels or skids on lateral ends of the header in combination with operation in a free float mode for maintaining uniform cut height across the header, and automatically changes to a controlled tilt mode when one or more conditions for that mode is present. During operation in the controlled tilt mode, if a condition or conditions for free float is present, the system will operate in that mode. The system can also optionally damp relative up and down movements of the gauge wheels or skids and the header on each end, and can limit the tilt in the free float mode.