diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 9363e218a3..d24a654f32 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -140,7 +140,7 @@ if(CONFIG_EKF2_AIRSPEED)
 endif()
 
 if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-	list(APPEND EKF_SRCS EKF/aux_global_position.cpp)
+	list(APPEND EKF_SRCS EKF/aid_sources/aux_global_position/aux_global_position.cpp)
 endif()
 
 if(CONFIG_EKF2_AUXVEL)
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index ac00234dc8..a98eaedcae 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -60,7 +60,7 @@ if(CONFIG_EKF2_AIRSPEED)
 endif()
 
 if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-	list(APPEND EKF_SRCS aux_global_position.cpp)
+	list(APPEND EKF_SRCS aid_sources/aux_global_position/aux_global_position.cpp)
 endif()
 
 if(CONFIG_EKF2_AUXVEL)
diff --git a/src/modules/ekf2/EKF/aux_global_position.cpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
similarity index 98%
rename from src/modules/ekf2/EKF/aux_global_position.cpp
rename to src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
index f64a990bae..a0bee2b0a3 100644
--- a/src/modules/ekf2/EKF/aux_global_position.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp
@@ -33,7 +33,7 @@
 
 #include "ekf.h"
 
-#include "aux_global_position.hpp"
+#include "aid_sources/aux_global_position/aux_global_position.hpp"
 
 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
 
diff --git a/src/modules/ekf2/EKF/aux_global_position.hpp b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
similarity index 98%
rename from src/modules/ekf2/EKF/aux_global_position.hpp
rename to src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
index 4246477350..056840c033 100644
--- a/src/modules/ekf2/EKF/aux_global_position.hpp
+++ b/src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp
@@ -42,8 +42,8 @@
 //  WelfordMean for init?
 //  WelfordMean for rate
 
-#include "common.h"
-#include "RingBuffer.h"
+#include "../../common.h"
+#include "../../RingBuffer.h"
 
 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
 
diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h
index fd3cdbd18c..1afdd559a4 100644
--- a/src/modules/ekf2/EKF/ekf.h
+++ b/src/modules/ekf2/EKF/ekf.h
@@ -63,7 +63,7 @@
 #include "aid_sources/ZeroVelocityUpdate.hpp"
 
 #if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION)
-# include "aux_global_position.hpp"
+# include "aid_sources/aux_global_position/aux_global_position.hpp"
 #endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
 
 enum class Likelihood { LOW, MEDIUM, HIGH };