diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 53d188af51..4c7f3a991e 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -183,7 +183,7 @@ if(CONFIG_EKF2_GNSS)
 endif()
 
 if(CONFIG_EKF2_GRAVITY_FUSION)
-	list(APPEND EKF_SRCS EKF/gravity_fusion.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/gravity/gravity_fusion.cpp)
 endif()
 
 if(CONFIG_EKF2_MAGNETOMETER)
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index efe8a97fa1..45cbc26241 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -102,7 +102,7 @@ if(CONFIG_EKF2_GNSS)
 endif()
 
 if(CONFIG_EKF2_GRAVITY_FUSION)
-	list(APPEND EKF_SRCS gravity_fusion.cpp)
+	list(APPEND EKF_SRCS aid_sources/gravity/gravity_fusion.cpp)
 endif()
 
 if(CONFIG_EKF2_MAGNETOMETER)
diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/gravity_fusion.cpp
rename to src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp