Today I developed a building block of Virtools4 for Tokin Motion Sensor
(MDP-A3U9S). It can capture acceleration, gyro and magnetic field on the
earth. In this demo, I can see the North pole through “North” value.

http://www.youtube.com/v/z4bcx-khBAo

You can download the source code from my website.
http://akihiko.shirai.as/modules/mydownloads/viewcat.php?cid=5