Hey there! I got a mail about your reference to this question. :)
I have searched around a bit, and even though I haven't developed in iPhone / iOS that much myself, I managed to find something really cool that's probably what you're looking for! :D
iPhone 4 Gyroscope Control in Unity by QuickFingers:
[Showcase Video][1]
[Tutorial][2]
*Note, tutorial link can also be found in description of youtube vid.*
*Note, requirements and step by step guide found in tutorial as well.*
So yea, go and try to give this a shot and let me know how it works out, definitely looks like something cool to fiddle around with, gl! :)
[1]: https://www.youtube.com/watch?v=sjwy3oGPu6Y
[2]: http://www.quickfingers.net/iphone-4-gyro-control-in-unity/
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