diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 9d42a6e242..7b80faa973 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -160,11 +160,11 @@ endif()
 
 if(CONFIG_EKF2_EXTERNAL_VISION)
 	list(APPEND EKF_SRCS
-		EKF/ev_control.cpp
-		EKF/ev_height_control.cpp
-		EKF/ev_pos_control.cpp
-		EKF/ev_vel_control.cpp
-		EKF/ev_yaw_control.cpp
+		EKF/aid_sources/external_vision/ev_control.cpp
+		EKF/aid_sources/external_vision/ev_height_control.cpp
+		EKF/aid_sources/external_vision/ev_pos_control.cpp
+		EKF/aid_sources/external_vision/ev_vel_control.cpp
+		EKF/aid_sources/external_vision/ev_yaw_control.cpp
 	)
 endif()
 
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 69d4edd146..45a627fd89 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -78,11 +78,11 @@ endif()
 
 if(CONFIG_EKF2_EXTERNAL_VISION)
 	list(APPEND EKF_SRCS
-		ev_control.cpp
-		ev_height_control.cpp
-		ev_pos_control.cpp
-		ev_vel_control.cpp
-		ev_yaw_control.cpp
+		aid_sources/external_vision/ev_control.cpp
+		aid_sources/external_vision/ev_height_control.cpp
+		aid_sources/external_vision/ev_pos_control.cpp
+		aid_sources/external_vision/ev_vel_control.cpp
+		aid_sources/external_vision/ev_yaw_control.cpp
 	)
 endif()
 
diff --git a/src/modules/ekf2/EKF/ev_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/ev_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_control.cpp
diff --git a/src/modules/ekf2/EKF/ev_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/ev_height_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
diff --git a/src/modules/ekf2/EKF/ev_pos_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/ev_pos_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_pos_control.cpp
diff --git a/src/modules/ekf2/EKF/ev_vel_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/ev_vel_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_vel_control.cpp
diff --git a/src/modules/ekf2/EKF/ev_yaw_control.cpp b/src/modules/ekf2/EKF/aid_sources/external_vision/ev_yaw_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/ev_yaw_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/external_vision/ev_yaw_control.cpp