diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index 7a7b5973fd..69ab23aacc 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -54,6 +54,7 @@ add_subdirectory(geo EXCLUDE_FROM_ALL)
 add_subdirectory(heatshrink EXCLUDE_FROM_ALL)
 add_subdirectory(hysteresis EXCLUDE_FROM_ALL)
 add_subdirectory(l1 EXCLUDE_FROM_ALL)
+add_subdirectory(lat_lon_alt EXCLUDE_FROM_ALL)
 add_subdirectory(led EXCLUDE_FROM_ALL)
 add_subdirectory(matrix EXCLUDE_FROM_ALL)
 add_subdirectory(mathlib EXCLUDE_FROM_ALL)
diff --git a/src/modules/ekf2/EKF/lat_lon_alt/CMakeLists.txt b/src/lib/lat_lon_alt/CMakeLists.txt
similarity index 100%
rename from src/modules/ekf2/EKF/lat_lon_alt/CMakeLists.txt
rename to src/lib/lat_lon_alt/CMakeLists.txt
diff --git a/src/modules/ekf2/EKF/lat_lon_alt/lat_lon_alt.cpp b/src/lib/lat_lon_alt/lat_lon_alt.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/lat_lon_alt/lat_lon_alt.cpp
rename to src/lib/lat_lon_alt/lat_lon_alt.cpp
diff --git a/src/modules/ekf2/EKF/lat_lon_alt/lat_lon_alt.hpp b/src/lib/lat_lon_alt/lat_lon_alt.hpp
similarity index 100%
rename from src/modules/ekf2/EKF/lat_lon_alt/lat_lon_alt.hpp
rename to src/lib/lat_lon_alt/lat_lon_alt.hpp
diff --git a/src/modules/ekf2/EKF/lat_lon_alt/test_lat_lon_alt.cpp b/src/lib/lat_lon_alt/test_lat_lon_alt.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/lat_lon_alt/test_lat_lon_alt.cpp
rename to src/lib/lat_lon_alt/test_lat_lon_alt.cpp
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index f6dc615f4e..2c4c898d41 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -33,7 +33,6 @@
 
 add_subdirectory(bias_estimator)
 add_subdirectory(output_predictor)
-add_subdirectory(lat_lon_alt)
 
 set(EKF_LIBS)
 set(EKF_SRCS)
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index f42493652e..aa4597b25d 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -66,8 +66,6 @@
 # include "aid_sources/aux_global_position/aux_global_position.hpp"
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
 
-#include "lat_lon_alt/lat_lon_alt.hpp"
-
 enum class Likelihood { LOW, MEDIUM, HIGH };
 class ExternalVisionVel;
 
diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h
index 90c26d6083..e878d100dc 100644
--- a/src/modules/ekf2/EKF/estimator_interface.h
+++ b/src/modules/ekf2/EKF/estimator_interface.h
@@ -42,7 +42,6 @@
 #ifndef EKF_ESTIMATOR_INTERFACE_H
 #define EKF_ESTIMATOR_INTERFACE_H
 
-#include "lat_lon_alt/lat_lon_alt.hpp"
 #if defined(MODULE_NAME)
 #include <px4_platform_common/log.h>
 # define ECL_INFO PX4_DEBUG
@@ -73,6 +72,7 @@
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 #include <lib/atmosphere/atmosphere.h>
+#include <lib/lat_lon_alt/lat_lon_alt.hpp>
 #include <matrix/math.hpp>
 #include <mathlib/mathlib.h>
 #include <mathlib/math/filter/AlphaFilter.hpp>
diff --git a/src/modules/ekf2/EKF/output_predictor/output_predictor.h b/src/modules/ekf2/EKF/output_predictor/output_predictor.h
index 33b7f127bc..602993b533 100644
--- a/src/modules/ekf2/EKF/output_predictor/output_predictor.h
+++ b/src/modules/ekf2/EKF/output_predictor/output_predictor.h
@@ -37,9 +37,9 @@
 #include <matrix/math.hpp>
 
 #include "../RingBuffer.h"
-#include "../lat_lon_alt/lat_lon_alt.hpp"
 
 #include <lib/geo/geo.h>
+#include <lib/lat_lon_alt/lat_lon_alt.hpp>
 
 class OutputPredictor
 {