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Thank you for sharing the new link @Eric, I just went through it, but didn't find the exact iOS Objective-C app template built by your team. I hope to build my own project from your app template. Is it in the repo you sent. Thanks for your help!
I am trying to do the same thing, and use the average of every five output within one second for acc and gyro to synchronize with compass. Thank you all the same! @Eric