control 2 motors using 3 euler angles

Hi All,
Am using MPU-9250 to control the movement of my setup by using 2 motors. Out of 3 Euler angles i can control the pitch movement in one motor and yaw in other. Roll movement has to be handled by the above 2 motors only. But am finding difficult to derive an logic to control the movement with 2 motors. Can anyone please help me on this, to control the 3 Euler angle movement using 2 motors. Thanks in advance.