2 files changed, 16 insertions, 17 deletions
diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index fe7485f56..dfa939c38 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -40,6 +40,8 @@
 #ifndef NAVIGATOR_H
 #define NAVIGATOR_H
 
+#include <vector>
+
 #include <systemlib/perf_counter.h>
 
 #include <controllib/blocks.hpp>
@@ -153,6 +155,8 @@ private:
 	Loiter		_loiter;			/**< class that handles loiter */
 	RTL 		_rtl;				/**< class that handles RTL */
 
+	std::vector<NavigatorMode*> _navigation_mode_vector;
+
 	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 a3c190c7f..ac32d4b22 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -125,6 +125,11 @@ Navigator::Navigator() :
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_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);
+
 	updateParams();
 }
 
@@ -363,23 +368,13 @@ Navigator::task_main()
 				break;
 		}
 
-		/* TODO: make list of modes and loop through it */
-		if (_navigation_mode == &_mission) {
-			_update_triplet = _mission.on_active(&_pos_sp_triplet);
-		} else {
-			_mission.on_inactive();
-		}
-
-		if (_navigation_mode == &_rtl) {
-			_update_triplet = _rtl.on_active(&_pos_sp_triplet);
-		} else {
-			_rtl.on_inactive();
-		}
-
-		if (_navigation_mode == &_loiter) {
-			_update_triplet = _loiter.on_active(&_pos_sp_triplet);
-		} else {
-			_loiter.on_inactive();
+		/* 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);
+			} else {
+				_navigation_mode_vector[i]->on_inactive();
+			}
 		}
 
 		/* if nothing is running, set position setpoint triplet invalid */