Change to CMMotion, implement magnetometer

* Removes deprecated use of UIAcceleration, replaces with CoreMotion's accelerometer data
* Adds Magnetometer support
* Implement azimuth, pitch and roll

**NOTE:** Need some help with this one, azimuth is not giving correct values. 
Pitch and roll are giving correct values when compared to my android, but Azimuth calculation is completely off, and I'm not too sure why.