Precise control of magnetic fields is a frequent challenge encountered in experiments with atomic quantum gases. Here we present a simple method for performing in-situ monitoring of magnetic fields that can readily be implemented in any quantum-gas apparatus in which a dedicated field-stabilization approach is not possible. The method, which works by sampling several Rabi resonances between magnetically field sensitive internal states that are not otherwise used in a given experiment, can be integrated with standard measurement sequences at arbitrary fields. For a condensate of $^{87}$Rb atoms, we demonstrate the reconstruction of Gauss-level bias fields with an accuracy of tens of microgauss and with millisecond time resolution. We test the performance of the method using measurements of slow resonant Rabi oscillations on a magnetic-field sensitive transition, and give an example for its use in experiments with state-selective optical potentials.
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