diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt
index 53690c7d2e..4bfd16eac5 100644
--- a/src/modules/ekf2/CMakeLists.txt
+++ b/src/modules/ekf2/CMakeLists.txt
@@ -82,6 +82,7 @@ px4_add_module(
 		3600
 	SRCS
 		EKF/airspeed_fusion.cpp
+		EKF/auxvel_fusion.cpp
 		EKF/baro_height_control.cpp
 		EKF/bias_estimator.cpp
 		EKF/control.cpp
diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt
index ea273a4f85..fb5a2afbe2 100644
--- a/src/modules/ekf2/EKF/CMakeLists.txt
+++ b/src/modules/ekf2/EKF/CMakeLists.txt
@@ -33,6 +33,7 @@
 
 add_library(ecl_EKF
 	airspeed_fusion.cpp
+	auxvel_fusion.cpp
 	baro_height_control.cpp
 	bias_estimator.cpp
 	control.cpp
diff --git a/src/modules/ekf2/EKF/auxvel_fusion.cpp b/src/modules/ekf2/EKF/auxvel_fusion.cpp
new file mode 100644
index 0000000000..2c499397f5
--- /dev/null
+++ b/src/modules/ekf2/EKF/auxvel_fusion.cpp
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "ekf.h"
+
+void Ekf::controlAuxVelFusion()
+{
+	if (_auxvel_buffer) {
+		auxVelSample auxvel_sample_delayed;
+
+		if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &auxvel_sample_delayed)) {
+
+			resetEstimatorAidStatus(_aid_src_aux_vel);
+
+			updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);
+
+			if (isHorizontalAidingActive()) {
+				_aid_src_aux_vel.fusion_enabled = true;
+				fuseVelocity(_aid_src_aux_vel);
+			}
+		}
+	}
+}
diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp
index f9e8af441e..0ae9e29a95 100644
--- a/src/modules/ekf2/EKF/control.cpp
+++ b/src/modules/ekf2/EKF/control.cpp
@@ -217,22 +217,3 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
 	// check if we are no longer fusing measurements that directly constrain velocity drift
 	updateDeadReckoningStatus();
 }
-
-void Ekf::controlAuxVelFusion()
-{
-	if (_auxvel_buffer) {
-		auxVelSample auxvel_sample_delayed;
-
-		if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &auxvel_sample_delayed)) {
-
-			resetEstimatorAidStatus(_aid_src_aux_vel);
-
-			updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel);
-
-			if (isHorizontalAidingActive()) {
-				_aid_src_aux_vel.fusion_enabled = true;
-				fuseVelocity(_aid_src_aux_vel);
-			}
-		}
-	}
-}