diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index e8e6d16f31..53690c7d2e 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -102,6 +102,7 @@ px4_add_module(
 		EKF/gps_checks.cpp
 		EKF/gps_control.cpp
 		EKF/gps_yaw_fusion.cpp
+		EKF/gravity_fusion.cpp
 		EKF/height_control.cpp
 		EKF/imu_down_sampler.cpp
 		EKF/mag_control.cpp
diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp
index 52d5db5be3..10ed0152f7 100644
--- a/src/modules/ekf2/EKF/gravity_fusion.cpp
+++ b/src/modules/ekf2/EKF/gravity_fusion.cpp
@@ -56,7 +56,7 @@ void Ekf::fuseGravity()
 	Vector3f innovation_variance;
 
 	// calculate kalman gains and innovation variances
-	sym::ComputyGravityInnovVarAndKAndH(
+	sym::ComputeGravityInnovVarAndKAndH(
 		getStateAtFusionHorizonAsVector(), P, measurement, acc_measurement_noise, FLT_EPSILON,
 		&_gravity_innov, &innovation_variance, &Kx, &Ky, &Kz);