diff --git a/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp b/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
index f146790..9496435 100644
--- a/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+++ b/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
@@ -210,15 +210,15 @@ void MenuAutopilot::runCommand() const {
         case 6:
             if (this->targetFreezed) {
                 this->targetFreezed = false;
-                this->driveManager->getNavigation()->freezeTargetPoint(false);
+                this->autopilot->getNavigation()->freezeTargetPoint(false);
             } else {
                 this->targetFreezed = true;
-                this->driveManager->getNavigation()->freezeTargetPoint();
+                this->autopilot->getNavigation()->freezeTargetPoint();
             }
             break;
 
         case 7:
-            this->minDistance = this->driveManager->getNavigation()->increaseMinDistanceToReachPoint();
+            this->minDistance = this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
             break;
         
         default:
@@ -229,7 +229,7 @@ void MenuAutopilot::runCommand() const {
 void MenuAutopilot::runCommandNo() const {
     switch (this->getCurrentPage()) {
     case 7:
-        this->minDistance = this->driveManager->getNavigation()->decreaseMinDistanceToReachPoint();
+        this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
         break;
     
     default:
@@ -247,9 +247,11 @@ void MenuAutopilot::update() {
 
 void MenuAutopilot::init() {
     this->setCountPages(8);
-    this->driveManager->changeModus(Modi::Autopilot);
-    this->autopilot = (Autopilot*) this->driveManager->getDriveModiPtr();
+    this->autopilot  = new Autopilot();
+    this->driveManager->changeModus(this->autopilot);
     this->routeInfo = this->autopilot->getRouteInfo();
-    this->driveManager->getNavigation()->increaseMinDistanceToReachPoint();
-    this->minDistance = this->driveManager->getNavigation()->decreaseMinDistanceToReachPoint();
+
+    //dirty hack to get the val, can be better!!! TODO
+    this->autopilot->getNavigation()->increaseMinDistanceToReachPoint();
+    this->minDistance = this->autopilot->getNavigation()->decreaseMinDistanceToReachPoint();
 }
diff --git a/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h b/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h
index f662459..c83669d 100644
--- a/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h
+++ b/src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h
@@ -13,6 +13,7 @@
 #define MENU_AUTOPILOT_DRIVE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
+#include "driveModi/Modi/Autopilot/autopilot.h"
 
 /**
  * @brief A class to print informations about the Autopilot
diff --git a/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp b/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
index 9069641..3b9ac35 100644
--- a/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
+++ b/src/SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.cpp
@@ -110,8 +110,8 @@ void MenuCalibrateCompass::printPage() const {
 
 void MenuCalibrateCompass::init() {
     this->firstPrint = false;
-    this->driveManager->changeModus(Modi::CalibrateCompass);
-    this->caliCompassMode = (CalibrateCompassM*) this->driveManager->getDriveModiPtr();
+    this->caliCompassMode = new CalibrateCompassM();
+    this->driveManager->changeModus(this->caliCompassMode);
     this->caliCompass = new CalibrateCompass(this->caliCompassMode->getSensorData()->getRealCompass());
     this->setCountPages(11);
     this->updateDelay = 500; 
diff --git a/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp b/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
index 5a81821..ff7508d 100644
--- a/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
+++ b/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.cpp
@@ -94,7 +94,7 @@ void MenuCaptureRoute::printPage() const {
 
         case 7:
             lineOne = "Current minimal";
-            if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+            if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
                 lineTwo = "accuracy is high";
             else 
                 lineTwo = "accuracy is low";
@@ -118,10 +118,10 @@ void MenuCaptureRoute::runCommand() const {
     switch (this->getCurrentPage())
     {
     case 7:
-        if (this->driveManager->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
-            this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::none);
+        if (this->captureRoute->getNavigation()->getMinAccuracy() >= Point::Accuracy::twoDigOfCM)
+            this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::none);
         else 
-            this->driveManager->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
+            this->captureRoute->getNavigation()->setMinAccuracy(Point::Accuracy::twoDigOfCM);
         break;
     
     default:
@@ -132,7 +132,7 @@ void MenuCaptureRoute::runCommand() const {
 void MenuCaptureRoute::init() {
     this->setCountPages(8);
     this->updateDelay = 500;
-    this->driveManager->changeModus(Modi::CaptureRoute);
-    this->captureRoute = (CaptureRoute*) this->driveManager->getDriveModiPtr();
+    this->captureRoute = new CaptureRoute();
+    this->driveManager->changeModus(this->captureRoute);
     
 }
diff --git a/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h b/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h
index 3f321ea..04136c7 100644
--- a/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h
+++ b/src/SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h
@@ -12,6 +12,7 @@
 #define MENU_MANUAL_DRIVE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
+#include "driveModi/Modi/CaptureRoute/captureRoute.h"
 
 /**
  * @brief A class to print informations about the Autopilot
diff --git a/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp b/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
index f77d6c3..b704d9b 100644
--- a/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+++ b/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
@@ -56,8 +56,8 @@ void MenuManualControl::printPage() const {
 
 void MenuManualControl::init() {
     this->firstPrint = false;
-    this->driveManager->changeModus(Modi::ManualControl);
-    this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
+    this->manualControl = new ManualControl();
+    this->driveManager->changeModus(this->manualControl);
     this->setCountPages(4);
     this->updateDelay = 500; 
 }
diff --git a/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h b/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h
index 2b1c3d8..7ad8449 100644
--- a/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h
+++ b/src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.h
@@ -13,7 +13,7 @@
 #define MENU_MANUAL_DRIVE_H
 
 #include "SpecialMenus/driveModi/menuDriveMode.h"
-#include "calibrateCompass.h"
+#include "driveModi/Modi/ManualControl/manualControl.h"
 
 /**
  * @brief A class to print informations about the class ManualControl
diff --git a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
index 18a40d1..6b268cb 100644
--- a/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+++ b/src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
@@ -74,8 +74,8 @@ void MenuTestMode::no() {
 }
 
 void MenuTestMode::init() {
-    this->driveManager->changeModus(Modi::TestMode);
-    this->testMode = (TestMode*) this->driveManager->getDriveModiPtr();
+    this->testMode = new TestMode();
+    this->driveManager->changeModus(this->testMode);
 
     testMode->setMaxSpeed(1);
     testMode->setMaxRotation(8);
diff --git a/src/SpecialMenus/driveModi/menuDriveMode.cpp b/src/SpecialMenus/driveModi/menuDriveMode.cpp
index 76b0bf3..ab42129 100644
--- a/src/SpecialMenus/driveModi/menuDriveMode.cpp
+++ b/src/SpecialMenus/driveModi/menuDriveMode.cpp
@@ -18,7 +18,7 @@ MenuDriveMode::MenuDriveMode(DriveManager* driveManager) {
 void MenuDriveMode::left() {
     this->firstPrint = true;
     this->configureOnLeave();
-    this->driveManager->changeModus(Modi::Off);
+    this->driveManager->changeModus();
     if (parentMenu) {
         this->parentMenu->printMenu();
         this->leaved = true;
diff --git a/src/driveModi/Modi/Autopilot/autopilot.cpp b/src/driveModi/Modi/Autopilot/autopilot.cpp
index 41b454f..7671518 100644
--- a/src/driveModi/Modi/Autopilot/autopilot.cpp
+++ b/src/driveModi/Modi/Autopilot/autopilot.cpp
@@ -26,12 +26,11 @@ void DirectionChangeSignal::action() {
 }
 
 
-Autopilot::Autopilot(DriveModiParams params, Navigation* navigation)
-    : ManualControl(params) {
+Autopilot::Autopilot() {
         this->setInputMode(ManualControl::InputMode::Digital);
         this->directionChangeSignal = new DirectionChangeSignal(this);
         this->setDirectionChangeCallback(this->directionChangeSignal);
-        this->navigation = navigation;
+        this->navigation = new Navigation(this->sensorData);
         this->init();
 }
 
diff --git a/src/driveModi/Modi/Autopilot/autopilot.h b/src/driveModi/Modi/Autopilot/autopilot.h
index ea64ac1..3a709be 100644
--- a/src/driveModi/Modi/Autopilot/autopilot.h
+++ b/src/driveModi/Modi/Autopilot/autopilot.h
@@ -47,7 +47,7 @@ class Autopilot : public ManualControl {
          * @param moveControl for ManualControl
          * @param navigation for route instructions
          */
-        Autopilot(DriveModiParams params, Navigation* navigation);
+        Autopilot();
 
         /**
          * @brief Destroy the Autopilot object
@@ -78,6 +78,7 @@ class Autopilot : public ManualControl {
          * @return State 
          */
         State getState() const { return this->state; }
+        Navigation* getNavigation() const { return this->navigation; }
         
         /**
          * @brief Tells if there are new informations to display
diff --git a/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp b/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp
index d2e195b..5dcdadd 100644
--- a/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp
+++ b/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp
@@ -11,7 +11,6 @@
 
 #include "calibrateCompassM.h"
 
-CalibrateCompassM::CalibrateCompassM(DriveModiParams params) : ManualControl(params) {}
 
 void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
     if (caliCompass) {
diff --git a/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h b/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h
index b101721..753bbc1 100644
--- a/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h
+++ b/src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h
@@ -18,8 +18,6 @@
 
 class CalibrateCompassM : public ManualControl {
     public:
-        CalibrateCompassM(DriveModiParams params);
-
         void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
 
     private:
diff --git a/src/driveModi/Modi/CaptureRoute/captureRoute.cpp b/src/driveModi/Modi/CaptureRoute/captureRoute.cpp
index 4ab4864..703b201 100644
--- a/src/driveModi/Modi/CaptureRoute/captureRoute.cpp
+++ b/src/driveModi/Modi/CaptureRoute/captureRoute.cpp
@@ -11,9 +11,8 @@
 
 #include "driveModi/Modi/CaptureRoute/captureRoute.h"
 
-CaptureRoute::CaptureRoute(DriveModiParams params, Navigation* navigation) 
-    : ManualControl(params) {
-        this->navigation = navigation;
+CaptureRoute::CaptureRoute() {
+        this->navigation = new Navigation(this->sensorData);
         this->navigation->getRoute()->clear();
         this->sensorData->getNtripClient()->setAutoReconnect(true);
         this->routeInfo = navigation->getRouteInfo();
diff --git a/src/driveModi/Modi/CaptureRoute/captureRoute.h b/src/driveModi/Modi/CaptureRoute/captureRoute.h
index 0916cee..44b3a4e 100644
--- a/src/driveModi/Modi/CaptureRoute/captureRoute.h
+++ b/src/driveModi/Modi/CaptureRoute/captureRoute.h
@@ -27,13 +27,7 @@
  */
 class CaptureRoute : public ManualControl {
     public:
-        /**
-         * @brief Construct a new Capture Route object
-         * 
-         * @param moveControl for ManualControl
-         * @param navigation to add Points
-         */
-        CaptureRoute(DriveModiParams params, Navigation* navigation);
+        CaptureRoute();
 
         /**
          * @brief Destroy the Capture Route object
@@ -56,6 +50,7 @@ class CaptureRoute : public ManualControl {
          */
         RouteInfo getRouteInfo() const { return this->routeInfo; }
         Navigation::Status getLastStatus() const { return this->status; }
+        Navigation* getNavigation() const { return this->navigation; }
 
         /**
          * @brief Get the distance to the last saved oint
diff --git a/src/driveModi/Modi/ManualControl/manualControl.h b/src/driveModi/Modi/ManualControl/manualControl.h
index 138c573..bcda7df 100644
--- a/src/driveModi/Modi/ManualControl/manualControl.h
+++ b/src/driveModi/Modi/ManualControl/manualControl.h
@@ -33,8 +33,6 @@ class ManualControl : public DriveModi {
             Digital
         };
 
-        ManualControl(DriveModiParams params) : DriveModi(params){};
-
         void switchInputMode();
         void setInputMode(InputMode mode) { this->inputMode = mode; }
         InputMode getInputMode() const { return this->inputMode; }
diff --git a/src/driveModi/Modi/TestMode/testMode.cpp b/src/driveModi/Modi/TestMode/testMode.cpp
index 921e45e..5f5cada 100644
--- a/src/driveModi/Modi/TestMode/testMode.cpp
+++ b/src/driveModi/Modi/TestMode/testMode.cpp
@@ -10,15 +10,6 @@
  */
 #include "testMode.h"
 
-TestMode::TestMode(DriveModiParams params,  Navigation* navigation) 
-        : DriveModi(params) {
-    this->navigation = navigation;
-}
-
-TestMode::~TestMode() {
-    this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
-}
-
 void TestMode::run() {
     if (this->maneuver == Maneuver::Turn) {
         uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
diff --git a/src/driveModi/Modi/TestMode/testMode.h b/src/driveModi/Modi/TestMode/testMode.h
index abfe21f..bae19de 100644
--- a/src/driveModi/Modi/TestMode/testMode.h
+++ b/src/driveModi/Modi/TestMode/testMode.h
@@ -38,15 +38,6 @@ class TestMode : public DriveModi {
             Drive
         };
 
-        /**
-         * @brief Construct a new Test Mode object
-         * 
-         * @param moveControl 
-         * @param navigation 
-         */
-        TestMode(DriveModiParams params, Navigation* navigation);
-        ~TestMode();
-
         bool drive(int16_t cm = 0, int16_t degree = 0);
 
         /**
diff --git a/src/driveModi/driveManager.cpp b/src/driveModi/driveManager.cpp
index 5d7dc0f..1631264 100644
--- a/src/driveModi/driveManager.cpp
+++ b/src/driveModi/driveManager.cpp
@@ -25,59 +25,21 @@ DriveManager::DriveManager(DriveModiParams params){
     this->init();
 }
 
-DriveManager::~DriveManager() {
-    delete this->navigation;
-}
-
-void DriveManager::changeModus(Modi modus) {
-    this->currentModus = modus;
-
+void DriveManager::changeModus(DriveModi* modus) {
     if (this->currentModusPtr) {
         this->removeChildComponent(this->currentModusPtr);
         delete this->currentModusPtr;
+        this->currentModusPtr = nullptr;
     }
-    //Reset Route to first point
-    this->navigation->startNavigation();
     
-    switch (modus) {
-        case Modi::Off:
-            this->currentModusPtr = nullptr;
-            break;
-
-        case Modi::ManualControl: {
-            this->currentModusPtr = new ManualControl(this->driveModiParams);
-            }
-            break;
-
-        case Modi::CaptureRoute: {
-            this->currentModusPtr = new CaptureRoute(this->driveModiParams,  this->navigation);
-            }
-            break;
-
-        case Modi::Autopilot: {
-            this->currentModusPtr = new Autopilot(this->driveModiParams, this->navigation);
-            }
-            break;
-
-        case Modi::TestMode: {
-                this->currentModusPtr = new TestMode(driveModiParams,  this->navigation);
-            }
-            break;
-        
-        default:
-            this->currentModusPtr = nullptr;
-            break;
-    }
+    this->currentModusPtr = modus;
 
     if (this->currentModusPtr)
+        this->currentModusPtr->activate(this->driveModiParams);
         this->addChildComponent(this->currentModusPtr);
 }
 
 void DriveManager::init() {
-    this->navigation = new Navigation(this->driveModiParams.sensorData);
-    
     this->addChildComponent(this->driveModiParams.moveControl);
-    this->addChildComponent(this->navigation);
     this->activateOnlyChilds();
 }
-
diff --git a/src/driveModi/driveManager.h b/src/driveModi/driveManager.h
index b0e3215..f62c4e2 100644
--- a/src/driveModi/driveManager.h
+++ b/src/driveModi/driveManager.h
@@ -12,38 +12,14 @@
 #ifndef DRIVE_MANAGER_H
 #define DRIVE_MANAGER_H
 
-#include <Arduino.h>
-#include <SPI.h>
-
 #include "moveControl.h"
 #include "driveModi/driveModi.h"
 #include "navigation.h"
 #include "config.h"
-#include "networkConfig.h"
-#include "debugTimes.h"
 #include "controlPadInput.h"
 #include "component.h"
 #include "sensorData.h"
 
-// All Drive Modi
-#include "driveModi/Modi/ManualControl/manualControl.h"
-#include "driveModi/Modi/CaptureRoute/captureRoute.h"
-#include "driveModi/Modi/Autopilot/autopilot.h"
-#include "driveModi/Modi/TestMode/testMode.h"
-
-/**
- * @brief An enum to choose the DriveMode
- * 
- */
-enum class Modi {   
-    Off,
-    ManualControl,
-    CalibrateCompass,
-    CaptureRoute,
-    Autopilot,
-    TestMode
-};
-
 class DriveManager : public Component {
     public:
         /**
@@ -70,14 +46,7 @@ class DriveManager : public Component {
          * 
          * @param modus 
          */
-        void changeModus(Modi modus);
-
-        /**
-         * @brief Get the Navigation object
-         * 
-         * @return Navigation* 
-         */
-        Navigation* getNavigation() const {return this->navigation;}
+        void changeModus(DriveModi* modus = nullptr);
 
         /**
          * @brief Get the DriveModi Ptr object
@@ -91,20 +60,14 @@ class DriveManager : public Component {
          */
         DriveModi* getDriveModiPtr() const { return this->currentModusPtr; }
 
-        /**
-         * @brief Get the DriveModi enum
-         * 
-         * @return Modi 
-         */
-        Modi getDriveModi() const { return this->currentModus; }
+
+        bool isActive() const { return this->currentModusPtr; }
 
     private:
         void run() override {};
         void init();
 
-        Modi currentModus = Modi::Off;
         DriveModi *currentModusPtr = nullptr;
-        Navigation* navigation;
         DriveModiParams driveModiParams;
 };
 
diff --git a/src/driveModi/driveModi.cpp b/src/driveModi/driveModi.cpp
index f07e6fe..fb0aa25 100644
--- a/src/driveModi/driveModi.cpp
+++ b/src/driveModi/driveModi.cpp
@@ -1,17 +1,7 @@
 #include "driveModi.h"
 
-DriveModi::DriveModi(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
-    this->moveControl = moveControl;
-    this->input = input;
-    this->sensorData = sensorData;
-    this->init();
-}
-
-DriveModi::DriveModi(DriveModiParams params){
-    this->moveControl = params.moveControl;
-    this->input = params.input;
-    this->sensorData = params.sensorData;
-    this->init();
+DriveModi::DriveModi() {
+    this->loopDelay = 0;
 }
 
 DriveModi::~DriveModi() {
@@ -20,6 +10,20 @@ DriveModi::~DriveModi() {
     this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
 }
 
+void DriveModi::activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData) {
+    this->moveControl = moveControl;
+    this->input = input;
+    this->sensorData = sensorData;
+    this->init();
+}
+
+void DriveModi::activate(DriveModiParams params){
+    this->moveControl = params.moveControl;
+    this->input = params.input;
+    this->sensorData = params.sensorData;
+    this->init();
+}
+
 void DriveModi::init() {
     this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
     this->loopDelay = 40;
diff --git a/src/driveModi/driveModi.h b/src/driveModi/driveModi.h
index b2267c3..46bbb5a 100644
--- a/src/driveModi/driveModi.h
+++ b/src/driveModi/driveModi.h
@@ -31,12 +31,14 @@ struct DriveModiParams {
  */
 class DriveModi : public Component {
     public:
-        DriveModi(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData);
-        DriveModi(DriveModiParams);
+        DriveModi();
         virtual ~DriveModi();
 
         const SensorData* getSensorData() const { return this->sensorData; }
 
+        void activate(MoveControl* moveControl, ControlPadInput* input, SensorData* sensorData);
+        void activate(DriveModiParams params);
+
         /**
          * @brief Set the max speed
          * 
diff --git a/src/main.cpp b/src/main.cpp
index 0044b6f..09b1ec8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -224,7 +224,8 @@ void makeMenu() {
     MenuCalibrateCompass* comp_m = new MenuCalibrateCompass(driveManager);
     MenuGPS* gps_m = new MenuGPS(sensorData);
     MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
-    MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
+    //TODO: Wie bekommt jeder die dumme Route?
+    MenuRoute* rout_m = new MenuRoute(new Route());
 
     auto_m->setUpdateDelay(1000);
     gps_m->setUpdateDelay(1000);