diff --git a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
index def9a885f3..f8786c60f9 100644
--- a/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
@@ -196,3 +196,39 @@ void Ekf::stopBaroHgtFusion()
 		_control_status.flags.baro_hgt = false;
 	}
 }
+
+#if defined(CONFIG_EKF2_BARO_COMPENSATION)
+float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
+{
+	if (_control_status.flags.wind && local_position_is_valid()) {
+		// calculate static pressure error = Pmeas - Ptruth
+		// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
+		// negative X and Y directions. Used to correct baro data for positional errors
+
+		// Calculate airspeed in body frame
+		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body);
+		const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned;
+
+		const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);
+
+		const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth;
+
+		const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth);
+
+		const Vector3f K_pstatic_coef(
+			airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn,
+			airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn,
+			_params.static_pressure_coef_z);
+
+		const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed));
+
+		const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef));
+
+		// correct baro measurement using pressure error estimate and assuming sea level gravity
+		return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
+	}
+
+	// otherwise return the uncorrected baro measurement
+	return baro_alt_uncompensated;
+}
+#endif // CONFIG_EKF2_BARO_COMPENSATION
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index 3aca5c93c7..88dd3cb508 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -947,10 +947,6 @@ private:
 	// and a scalar innovation value
 	void fuse(const VectorState &K, float innovation);
 
-#if defined(CONFIG_EKF2_BARO_COMPENSATION)
-	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
-#endif // CONFIG_EKF2_BARO_COMPENSATION
-
 	// calculate the earth rotation vector from a given latitude
 	Vector3f calcEarthRateNED(float lat_rad) const;
 
@@ -1079,6 +1075,11 @@ private:
 	void stopBaroHgtFusion();
 
 	void updateGroundEffect();
+
+# if defined(CONFIG_EKF2_BARO_COMPENSATION)
+	float compensateBaroForDynamicPressure(float baro_alt_uncompensated) const;
+# endif // CONFIG_EKF2_BARO_COMPENSATION
+
 #endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_GRAVITY_FUSION)
diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index afff6dc0ca..1b3a7126b4 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -56,42 +56,6 @@ bool Ekf::isHeightResetRequired() const
 	return (continuous_bad_accel_hgt || hgt_fusion_timeout);
 }
 
-#if defined(CONFIG_EKF2_BARO_COMPENSATION)
-float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
-{
-	if (_control_status.flags.wind && local_position_is_valid()) {
-		// calculate static pressure error = Pmeas - Ptruth
-		// model position error sensitivity as a body fixed ellipse with a different scale in the positive and
-		// negative X and Y directions. Used to correct baro data for positional errors
-
-		// Calculate airspeed in body frame
-		const Vector3f vel_imu_rel_body_ned = _R_to_earth * (_ang_rate_delayed_raw % _params.imu_pos_body);
-		const Vector3f velocity_earth = _state.vel - vel_imu_rel_body_ned;
-
-		const Vector3f wind_velocity_earth(_state.wind_vel(0), _state.wind_vel(1), 0.0f);
-
-		const Vector3f airspeed_earth = velocity_earth - wind_velocity_earth;
-
-		const Vector3f airspeed_body = _state.quat_nominal.rotateVectorInverse(airspeed_earth);
-
-		const Vector3f K_pstatic_coef(
-			airspeed_body(0) >= 0.f ? _params.static_pressure_coef_xp : _params.static_pressure_coef_xn,
-			airspeed_body(1) >= 0.f ? _params.static_pressure_coef_yp : _params.static_pressure_coef_yn,
-			_params.static_pressure_coef_z);
-
-		const Vector3f airspeed_squared = matrix::min(airspeed_body.emult(airspeed_body), sq(_params.max_correction_airspeed));
-
-		const float pstatic_err = 0.5f * _air_density * (airspeed_squared.dot(K_pstatic_coef));
-
-		// correct baro measurement using pressure error estimate and assuming sea level gravity
-		return baro_alt_uncompensated + pstatic_err / (_air_density * CONSTANTS_ONE_G);
-	}
-
-	// otherwise return the uncorrected baro measurement
-	return baro_alt_uncompensated;
-}
-#endif // CONFIG_EKF2_BARO_COMPENSATION
-
 // calculate the earth rotation vector
 Vector3f Ekf::calcEarthRateNED(float lat_rad) const
 {