diff --git a/src/drivers/device/vdev.cpp b/src/drivers/device/vdev.cpp
index 7db1cde921..99d9acf1af 100644
--- a/src/drivers/device/vdev.cpp
+++ b/src/drivers/device/vdev.cpp
@@ -44,33 +44,20 @@
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
+#include <string>
+#include <map>
 
 #include "DevMgr.hpp"
 
 using namespace DriverFramework;
+using namespace std;
 
 namespace device
 {
 
 int px4_errno;
 
-struct px4_dev_t {
-	char *name;
-	void *cdev;
-
-	px4_dev_t(const char *n, void *c) : cdev(c)
-	{
-		name = strdup(n);
-	}
-
-	~px4_dev_t() { free(name); }
-
-private:
-	px4_dev_t() {}
-};
-
-#define PX4_MAX_DEV 500
-static px4_dev_t *devmap[PX4_MAX_DEV];
+static map<string, void *> devmap;
 pthread_mutex_t devmutex = PTHREAD_MUTEX_INITIALIZER;
 
 
@@ -137,39 +124,27 @@ int
 VDev::register_driver(const char *name, void *data)
 {
 	PX4_DEBUG("VDev::register_driver %s", name);
-	int ret = -ENOSPC;
+	int ret = 0;
 
 	if (name == nullptr || data == nullptr) {
 		return -EINVAL;
 	}
 
-	// Make sure the device does not already exist
-	// FIXME - convert this to a map for efficiency
-
 	pthread_mutex_lock(&devmutex);
 
-	for (int i = 0; i < PX4_MAX_DEV; ++i) {
-		if (devmap[i] && (strcmp(devmap[i]->name, name) == 0)) {
-			pthread_mutex_unlock(&devmutex);
-			return -EEXIST;
-		}
+	// Make sure the device does not already exist
+	auto item = devmap.find(name);
+
+	if (item != devmap.end()) {
+		pthread_mutex_unlock(&devmutex);
+		return -EEXIST;
 	}
 
-	for (int i = 0; i < PX4_MAX_DEV; ++i) {
-		if (devmap[i] == nullptr) {
-			devmap[i] = new px4_dev_t(name, (void *)data);
-			PX4_DEBUG("Registered DEV %s", name);
-			ret = PX4_OK;
-			break;
-		}
-	}
+	devmap[name] = (void *)data;
+	PX4_DEBUG("Registered DEV %s", name);
 
 	pthread_mutex_unlock(&devmutex);
 
-	if (ret != PX4_OK) {
-		PX4_ERR("No free devmap entries - increase PX4_MAX_DEV");
-	}
-
 	return ret;
 }
 
@@ -185,14 +160,9 @@ VDev::unregister_driver(const char *name)
 
 	pthread_mutex_lock(&devmutex);
 
-	for (int i = 0; i < PX4_MAX_DEV; ++i) {
-		if (devmap[i] && (strcmp(name, devmap[i]->name) == 0)) {
-			delete devmap[i];
-			devmap[i] = nullptr;
-			PX4_DEBUG("Unregistered DEV %s", name);
-			ret = PX4_OK;
-			break;
-		}
+	if (devmap.erase(name) > 0) {
+		PX4_DEBUG("Unregistered DEV %s", name);
+		ret = 0;
 	}
 
 	pthread_mutex_unlock(&devmutex);
@@ -206,22 +176,19 @@ VDev::unregister_class_devname(const char *class_devname, unsigned class_instanc
 	PX4_DEBUG("VDev::unregister_class_devname");
 	char name[32];
 	snprintf(name, sizeof(name), "%s%u", class_devname, class_instance);
+	int ret = -EINVAL;
 
+	PX4_WARN("unregistering class %s", name);
 	pthread_mutex_lock(&devmutex);
 
-	for (int i = 0; i < PX4_MAX_DEV; ++i) {
-		if (devmap[i] && strcmp(devmap[i]->name, name) == 0) {
-			delete devmap[i];
-			PX4_DEBUG("Unregistered class DEV %s", name);
-			devmap[i] = nullptr;
-			pthread_mutex_unlock(&devmutex);
-			return PX4_OK;
-		}
+	if (devmap.erase(name) > 0) {
+		PX4_DEBUG("Unregistered class DEV %s", name);
+		ret = 0;
 	}
 
 	pthread_mutex_unlock(&devmutex);
 
-	return -EINVAL;
+	return ret;
 }
 
 int
@@ -535,18 +502,14 @@ VDev::remove_poll_waiter(px4_pollfd_struct_t *fds)
 VDev *VDev::getDev(const char *path)
 {
 	PX4_DEBUG("VDev::getDev");
-	int i = 0;
 
 	pthread_mutex_lock(&devmutex);
 
-	for (; i < PX4_MAX_DEV; ++i) {
-		//if (devmap[i]) {
-		//	printf("%s %s\n", devmap[i]->name, path);
-		//}
-		if (devmap[i] && (strcmp(devmap[i]->name, path) == 0)) {
-			pthread_mutex_unlock(&devmutex);
-			return (VDev *)(devmap[i]->cdev);
-		}
+	auto item = devmap.find(path);
+
+	if (item != devmap.end()) {
+		pthread_mutex_unlock(&devmutex);
+		return (VDev *)item->second;
 	}
 
 	pthread_mutex_unlock(&devmutex);
@@ -561,9 +524,9 @@ void VDev::showDevices()
 
 	pthread_mutex_lock(&devmutex);
 
-	for (; i < PX4_MAX_DEV; ++i) {
-		if (devmap[i] && strncmp(devmap[i]->name, "/dev/", 5) == 0) {
-			PX4_INFO("   %s", devmap[i]->name);
+	for (const auto &dev : devmap) {
+		if (strncmp(dev.first.c_str(), "/dev/", 5) == 0) {
+			PX4_INFO("   %s", dev.first.c_str());
 		}
 	}
 
@@ -586,14 +549,13 @@ void VDev::showDevices()
 
 void VDev::showTopics()
 {
-	int i = 0;
 	PX4_INFO("Devices:");
 
 	pthread_mutex_lock(&devmutex);
 
-	for (; i < PX4_MAX_DEV; ++i) {
-		if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) == 0) {
-			PX4_INFO("   %s", devmap[i]->name);
+	for (const auto &dev : devmap) {
+		if (strncmp(dev.first.c_str(), "/obj/", 5) == 0) {
+			PX4_INFO("   %s", dev.first.c_str());
 		}
 	}
 
@@ -602,15 +564,14 @@ void VDev::showTopics()
 
 void VDev::showFiles()
 {
-	int i = 0;
 	PX4_INFO("Files:");
 
 	pthread_mutex_lock(&devmutex);
 
-	for (; i < PX4_MAX_DEV; ++i) {
-		if (devmap[i] && strncmp(devmap[i]->name, "/obj/", 5) != 0 &&
-		    strncmp(devmap[i]->name, "/dev/", 5) != 0) {
-			PX4_INFO("   %s", devmap[i]->name);
+	for (const auto &dev : devmap) {
+		if (strncmp(dev.first.c_str(), "/obj/", 5) != 0 &&
+		    strncmp(dev.first.c_str(), "/dev/", 5) != 0) {
+			PX4_INFO("   %s", dev.first.c_str());
 		}
 	}