Hello dear members,

Is it true that a 3 axis magnetometer outputs the wrong values if you tilt the sensor, and the more you tilt it the worse it gets?

The reason of why Im asking this is because Im in need of a correct yaw value, since the gyroscope doesn't output the correct value. So the question is if I need to combine a magnetometer with a gyroscope to read the correct yaw value.

Any help would be appreciated, especially links with equations to solve this problem.

Cheers