diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 7b80faa973..f8abff448c 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -145,7 +145,7 @@ if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
 endif()
 
 if(CONFIG_EKF2_AUXVEL)
-	list(APPEND EKF_SRCS EKF/auxvel_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/auxvel/auxvel_fusion.cpp)
 endif()
 
 if(CONFIG_EKF2_BAROMETER)
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 45a627fd89..ffaada28d2 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -63,7 +63,7 @@ if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
 endif()
 
 if(CONFIG_EKF2_AUXVEL)
-	list(APPEND EKF_SRCS auxvel_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/auxvel/auxvel_fusion.cpp)
 endif()
 
 if(CONFIG_EKF2_BAROMETER)
diff --git a/src/modules/ekf2/EKF/auxvel_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/auxvel/auxvel_fusion.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/auxvel_fusion.cpp
rename to src/modules/ekf2/EKF/aid_sources/auxvel/auxvel_fusion.cpp