title: Orientation from magnetometer data
body: <p>I saw lot of topics with the same title but answers are different.</p>
  
  <p>I have a magnetometer in my phone which give me the components of magnetic field in direction of X, Y, Z.</p>
  
  <p>Which of the following angles can be determined using datas of magnetometer?
  Roll, pitch, yaw? And how?</p>
  
  <p>Thank you,
  Robert</p>