title: Detect rotation using iphone's sensors
body: <p>I'm building an application that detects if the phone has rotated 360 degrees. This rotation will most likely be done in 35 seconds. How do I detect this accurately? I've read some articles about 'integration' and using the gyroscope for the short term and the accelerometer to compensate the gyroscope. What is the best way to achieve this, and, to start, how do I get the rotation values from the gyroscope?</p>
  
  <p>I don't really understand the RotationMatrix from the multiplied by inverse'd CMAttitude. CMAttitude.yaw gives me different values even when I'm not using the phone. I have also seen the teapot example. My code goes about the same, except that I need to process the data from the RotationMatrix myself, since I'm not using OpenGL to do this for me.</p>
  
  <p>Thanks in advance,
  Hidde</p>