diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index c5f9c05fcf..de5390d3b1 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -126,7 +126,6 @@ list(APPEND EKF_SRCS
 	EKF/fake_pos_control.cpp
 	EKF/height_control.cpp
 	EKF/imu_down_sampler.cpp
-	EKF/output_predictor.cpp
 	EKF/velocity_fusion.cpp
 	EKF/position_fusion.cpp
 	EKF/yaw_fusion.cpp
@@ -258,7 +257,9 @@ px4_add_module(
 		EKF2Utility
 		px4_work_queue
 		world_magnetic_model
+
 		${EKF_LIBS}
+		output_predictor
 	UNITY_BUILD
 	)
 
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index a22e3816de..107f9ff4c2 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -31,6 +31,8 @@
 #
 ############################################################################
 
+add_subdirectory(output_predictor)
+
 set(EKF_LIBS)
 set(EKF_SRCS)
 list(APPEND EKF_SRCS
@@ -44,7 +46,6 @@ list(APPEND EKF_SRCS
 	fake_pos_control.cpp
 	height_control.cpp
 	imu_down_sampler.cpp
-	output_predictor.cpp
 	velocity_fusion.cpp
 	position_fusion.cpp
 	yaw_fusion.cpp
@@ -147,6 +148,7 @@ target_include_directories(ecl_EKF PUBLIC ${EKF_GENERATED_DERIVATION_INCLUDE_PAT
 target_link_libraries(ecl_EKF
 	PRIVATE
 		geo
+		output_predictor
 		world_magnetic_model
 		${EKF_LIBS}
 )
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 5c757f7214..81f2dc48f3 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -64,7 +64,7 @@
 #include "common.h"
 #include "RingBuffer.h"
 #include "imu_down_sampler.hpp"
-#include "output_predictor.h"
+#include "output_predictor/output_predictor.h"
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 # include "aid_sources/range_finder/range_finder_consistency_check.hpp"
diff --git a/src/modules/ekf2/EKF/output_predictor/CMakeLists.txt b/src/modules/ekf2/EKF/output_predictor/CMakeLists.txt
new file mode 100644
index 0000000000..701a5cb13f
--- /dev/null
+++ b/src/modules/ekf2/EKF/output_predictor/CMakeLists.txt
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(output_predictor
+	output_predictor.cpp
+	output_predictor.h
+)
+
+add_dependencies(output_predictor prebuild_targets)
diff --git a/src/modules/ekf2/EKF/output_predictor.cpp b/src/modules/ekf2/EKF/output_predictor/output_predictor.cpp
similarity index 99%
rename from src/modules/ekf2/EKF/output_predictor.cpp
rename to src/modules/ekf2/EKF/output_predictor/output_predictor.cpp
index 93086dc7e6..826717d7b8 100644
--- a/src/modules/ekf2/EKF/output_predictor.cpp
+++ b/src/modules/ekf2/EKF/output_predictor/output_predictor.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4. All rights reserved.
+ *   Copyright (c) 2022-2024 PX4. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
diff --git a/src/modules/ekf2/EKF/output_predictor.h b/src/modules/ekf2/EKF/output_predictor/output_predictor.h
similarity index 98%
rename from src/modules/ekf2/EKF/output_predictor.h
rename to src/modules/ekf2/EKF/output_predictor/output_predictor.h
index ee5cc0f710..fee4fdff64 100644
--- a/src/modules/ekf2/EKF/output_predictor.h
+++ b/src/modules/ekf2/EKF/output_predictor/output_predictor.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2022 PX4. All rights reserved.
+ *   Copyright (c) 2022-2024 PX4. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,8 +36,7 @@
 
 #include <matrix/math.hpp>
 
-#include "common.h"
-#include "RingBuffer.h"
+#include "../RingBuffer.h"
 
 #include <lib/geo/geo.h>