A magnetic sensor control device has an input section, a selection section, a calculation section, and a setting section. The input section inputs a plurality of magnetic data each having 3 components sequentially output from a 3-dimensional (3D) magnetic sensor. The selection section selects 4 magnetic data satisfying a predetermined 4-point selection condition from the plurality of the input magnetic data. The calculation section calculates a center point equally distant from 4 points corresponding to the 4 selected magnetic data. The setting section sets 3 components representing the center point as an offset of the magnetic data.