diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index f65a5f1e28..66f2f915cd 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -121,17 +121,17 @@ list(APPEND EKF_SRCS
 	EKF/ekf.cpp
 	EKF/ekf_helper.cpp
 	EKF/estimator_interface.cpp
-	EKF/fake_height_control.cpp
-	EKF/fake_pos_control.cpp
 	EKF/height_control.cpp
 	EKF/imu_down_sampler.cpp
 	EKF/velocity_fusion.cpp
 	EKF/position_fusion.cpp
 	EKF/yaw_fusion.cpp
-	EKF/zero_innovation_heading_update.cpp
 
+	EKF/aid_sources/fake_height_control.cpp
+	EKF/aid_sources/fake_pos_control.cpp
 	EKF/aid_sources/ZeroGyroUpdate.cpp
 	EKF/aid_sources/ZeroVelocityUpdate.cpp
+	EKF/aid_sources/zero_innovation_heading_update.cpp
 )
 
 if(CONFIG_EKF2_AIRSPEED)
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 1680967dfc..5cb9a37cea 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -42,17 +42,17 @@ list(APPEND EKF_SRCS
 	ekf.cpp
 	ekf_helper.cpp
 	estimator_interface.cpp
-	fake_height_control.cpp
-	fake_pos_control.cpp
 	height_control.cpp
 	imu_down_sampler.cpp
 	velocity_fusion.cpp
 	position_fusion.cpp
 	yaw_fusion.cpp
-	zero_innovation_heading_update.cpp
 
+	aid_sources/fake_height_control.cpp
+	aid_sources/fake_pos_control.cpp
 	aid_sources/ZeroGyroUpdate.cpp
 	aid_sources/ZeroVelocityUpdate.cpp
+	aid_sources/zero_innovation_heading_update.cpp
 )
 
 if(CONFIG_EKF2_AIRSPEED)
diff --git a/src/modules/ekf2/EKF/fake_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/fake_height_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/fake_height_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/fake_height_control.cpp
diff --git a/src/modules/ekf2/EKF/fake_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/fake_pos_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/fake_pos_control.cpp
diff --git a/src/modules/ekf2/EKF/zero_innovation_heading_update.cpp b/src/modules/ekf2/EKF/aid_sources/zero_innovation_heading_update.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
rename to src/modules/ekf2/EKF/aid_sources/zero_innovation_heading_update.cpp