The iPhone 3GS is capable of capturing video in HD according to a guide over at Redmond Pie. The guide says that the camera is capable of recording 1080×800 pixels at a frame rate of 30fps by making a small tweak to a jailbroke iPhone 3GS running iOS 4.1
The method was performed using the Limera1n iOS 4.1 jailbreak and requires that you install OpenSSH to get access to the necessary file to modify it.
In total there are 8 steps that need to be followed with none of them being too difficult. A sample video can be found below that shows the results of the recording capabilities.
The full guide can be found over here.
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