diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index de5390d3b1..9363e218a3 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -187,9 +187,9 @@ endif()
 
 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
-		EKF/mag_3d_control.cpp
-		EKF/mag_control.cpp
-		EKF/mag_fusion.cpp
+		EKF/aid_sources/magnetometer/mag_3d_control.cpp
+		EKF/aid_sources/magnetometer/mag_control.cpp
+		EKF/aid_sources/magnetometer/mag_fusion.cpp
 	)
 endif()
 
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 107f9ff4c2..ac00234dc8 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -108,9 +108,9 @@ endif()
 
 if(CONFIG_EKF2_MAGNETOMETER)
 	list(APPEND EKF_SRCS
-		mag_3d_control.cpp
-		mag_control.cpp
-		mag_fusion.cpp
+		aid_sources/magnetometer/mag_3d_control.cpp
+		aid_sources/magnetometer/mag_control.cpp
+		aid_sources/magnetometer/mag_fusion.cpp
 	)
 endif()
 
diff --git a/src/modules/ekf2/EKF/mag_3d_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_3d_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/mag_3d_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/magnetometer/mag_3d_control.cpp
diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/mag_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp
diff --git a/src/modules/ekf2/EKF/mag_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/mag_fusion.cpp
rename to src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp