diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 1ab6700348..b22ba7b131 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -210,7 +210,7 @@ if(CONFIG_EKF2_RANGE_FINDER)
 endif()
 
 if(CONFIG_EKF2_SIDESLIP)
-	list(APPEND EKF_SRCS EKF/sideslip_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/sideslip/sideslip_fusion.cpp)
 endif()
 
 if(CONFIG_EKF2_TERRAIN)
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index a0ff480377..1c2fd18121 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -129,7 +129,7 @@ if(CONFIG_EKF2_RANGE_FINDER)
 endif()
 
 if(CONFIG_EKF2_SIDESLIP)
-	list(APPEND EKF_SRCS sideslip_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/sideslip/sideslip_fusion.cpp)
 endif()
 
 if(CONFIG_EKF2_TERRAIN)
diff --git a/src/modules/ekf2/EKF/sideslip_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/sideslip_fusion.cpp
rename to src/modules/ekf2/EKF/aid_sources/sideslip/sideslip_fusion.cpp