Can one be simulated by periodicly syncing with GPS and in the meen while working with the accelerometer? I know for example that the N95 accelerometer is invarient to rotation on the Y axis (while beeing face up/down).
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The original iPhone and the iPhone 3G use GPS to calculate the heading, however the iPhone 3GS now has a 3-dimensional magnetometer compass in it.
This can only be done taking two GPS coordinates (while moving) and determining the direction from point A to B.

Nick Bedford
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The heading from GPS only indicates what direction the phone is moving and only works if it is moving. It doesn't tell you what direction it is facing like a compass does. But it may be better than nothing if it meets your needs. – progrmr Dec 18 '09 at 02:02
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Yeah I know. Should have mentioned that. – Nick Bedford Dec 22 '09 at 22:16
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iPhone doesn't have a built in compass; but there is one created in software. It's called Compass Free, and unsurprisingly perhaps, it's free.

different
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That was true: iPhone 1 and iPhone 3G have no compass, but later iPhones (3GS, 4, 4S) all have a compass. iPads with 3G also have a compass (magnetometers). – progrmr Oct 08 '11 at 15:29