diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 4c7f3a991e..1ab6700348 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -150,7 +150,7 @@ endif()
 
 if(CONFIG_EKF2_BAROMETER)
 	list(APPEND EKF_SRCS
-		EKF/baro_height_control.cpp
+		EKF/aid_sources/barometer/baro_height_control.cpp
 	)
 endif()
 
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index 45cbc26241..a0ff480377 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -68,7 +68,7 @@ endif()
 
 if(CONFIG_EKF2_BAROMETER)
 	list(APPEND EKF_SRCS
-		baro_height_control.cpp
+		aid_sources/barometer/baro_height_control.cpp
 	)
 endif()
 
diff --git a/src/modules/ekf2/EKF/baro_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
similarity index 100%
rename from src/modules/ekf2/EKF/baro_height_control.cpp
rename to src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp