Switched to using c-type arrays

2 files changed, 10 insertions, 10 deletions

diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index dfa939c38..929de0259 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -40,8 +40,6 @@
 #ifndef NAVIGATOR_H
 #define NAVIGATOR_H
 
-#include <vector>
-
 #include <systemlib/perf_counter.h>
 
 #include <controllib/blocks.hpp>
@@ -60,6 +58,8 @@
 #include "rtl.h"
 #include "geofence.h"
 
+#define NAVIGATOR_MODE_ARRAY_SIZE 3
+
 class Navigator : public control::SuperBlock
 {
 public:
@@ -155,7 +155,7 @@ private:
 	Loiter		_loiter;			/**< class that handles loiter */
 	RTL 		_rtl;				/**< class that handles RTL */
 
-	std::vector<NavigatorMode*> _navigation_mode_vector;
+	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
 
 	bool		_is_in_loiter;			/**< flags if current position SP can be used to loiter */
 	bool		_update_triplet;		/**< flags if position SP triplet needs to be published */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index ac32d4b22..b91af8e4c 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -126,9 +126,9 @@ Navigator::Navigator() :
 	_param_takeoff_acceptance_radius(this, "TF_ACC_RAD")
 {
 	/* Create a list of our possible navigation types */
-	_navigation_mode_vector.push_back(&_mission);
-	_navigation_mode_vector.push_back(&_loiter);
-	_navigation_mode_vector.push_back(&_rtl);
+	_navigation_mode_array[0] = &_mission;
+	_navigation_mode_array[1] = &_loiter;
+	_navigation_mode_array[2] = &_rtl;
 
 	updateParams();
 }
@@ -369,11 +369,11 @@ Navigator::task_main()
 		}
 
 		/* iterate through navigation modes and set active/inactive for each */
-		for(unsigned int i = 0; i < _navigation_mode_vector.size(); i++) {
-			if (_navigation_mode == _navigation_mode_vector[i]) {
-				_update_triplet = _navigation_mode_vector[i]->on_active(&_pos_sp_triplet);
+		for(unsigned int i = 0; i < NAVIGATOR_MODE_ARRAY_SIZE; i++) {
+			if (_navigation_mode == _navigation_mode_array[i]) {
+				_update_triplet = _navigation_mode_array[i]->on_active(&_pos_sp_triplet);
 			} else {
-				_navigation_mode_vector[i]->on_inactive();
+				_navigation_mode_array[i]->on_inactive();
 			}
 		}