I searched about what I want to discuss both on this forum and the internet. The results are that I have not got whatever I needed so far.
I simply want to convert Magnetometer data (MagX, MagY, MagZ) to rotation (angles: roll, yaw, pitch) or angular velocity. I will need all calculations in Matlab. I prefer not using another sensor`s data (like accelerometer) but if no other way, then that is fine.