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diff --git a/src/lib/launchdetection/CatapultLaunchMethod.cpp b/src/lib/launchdetection/CatapultLaunchMethod.cpp
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+++ b/src/lib/launchdetection/CatapultLaunchMethod.cpp
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+/****************************************************************************
+ *
+ *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file CatapultLaunchMethod.cpp
+ * Catapult Launch detection
+ *
+ * @author Thomas Gubler <thomasgubler@gmail.com>
+ *
+ */
+
+#include "CatapultLaunchMethod.h"
+#include <systemlib/err.h>
+
+namespace launchdetection
+{
+
+CatapultLaunchMethod::CatapultLaunchMethod(SuperBlock *parent) :
+	SuperBlock(parent, "CAT"),
+	last_timestamp(hrt_absolute_time()),
+	integrator(0.0f),
+	launchDetected(false),
+	threshold_accel(this, "A"),
+	threshold_time(this, "T")
+{
+
+}
+
+CatapultLaunchMethod::~CatapultLaunchMethod() {
+
+}
+
+void CatapultLaunchMethod::update(float accel_x)
+{
+	float dt = (float)hrt_elapsed_time(&last_timestamp) * 1e-6f;
+	last_timestamp = hrt_absolute_time();
+
+	if (accel_x > threshold_accel.get()) {
+		integrator += accel_x * dt;
+//		warnx("*** integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
+//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
+		if (integrator > threshold_accel.get() * threshold_time.get()) {
+			launchDetected = true;
+		}
+
+	} else {
+//		warnx("integrator %.3f, threshold_accel %.3f, threshold_time %.3f, accel_x %.3f, dt %.3f",
+//				(double)integrator, (double)threshold_accel.get(),  (double)threshold_time.get(), (double)accel_x, (double)dt);
+		/* reset integrator */
+		integrator = 0.0f;
+		launchDetected = false;
+	}
+
+}
+
+bool CatapultLaunchMethod::getLaunchDetected()
+{
+	return launchDetected;
+}
+
+
+void CatapultLaunchMethod::reset()
+{
+	integrator = 0.0f;
+	launchDetected = false;
+}
+
+}