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An integrated system of hardware and software allowing precise definition ofarbitrarily oriented magnetic fields up to |B| = 1 {\mu}T within a five-layermumetal shield is described. The system is calibrated with reference tomagnetic resonance observed between Zeeman states of the 6S$_{1/2}$ F = 4$^{133}$Cs ground state. Magnetic field definition over the full 4{\pi} solidangle is demonstrated, with one-sigma tolerances in magnitude, orientation andgradient of {\delta}|B| = 0.94 nT, {\delta}{\theta} = 5.9 mrad and{\delta}$\nabla$ B = 13.0 pT/mm, respectively. This field control is used toempirically map Mx magnetometer signal amplitude as a function of the staticfield (B0) orientation.

High-precision control of static magnetic field magnitude, orientation, and gradient using optically pumped vapour cell magnetometry