File a petition in court to request the summer vacation and to modify the current order.
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If the court order does not restrict your ability to travel and it does not interfere with the NCP's visitation, then you are free to travel. You've done the right thing by providing her with information about the trip.
My only caveat is, if you already have an attorney, you should consult with that attorney and get his/her advice.
I agree that there is nothing in the order restricting you from going away. That said, if you have an attorney, check with your attorney. If you do not, you might want to get an attorney. You gave her the information, so you've done the right thing. If you have any concerns whatsoever, you may want to go back to court to amend the order to allow for vacations and the ability to take the child out-of-state. You're not wrong, from what you're saying, by going away without a court order, but you may be asking for trouble because your ex is already letting you know that she's going to make a stink about it. Check with your attorney and if not, you may want to get a family lawyer. Best of luck to you.
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Since you have legal and residential custody and Mom's rights will not be affected, enjoy your vacation especially since you gave her the details. No need to bother with going to Court. Enjoy!