diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp
index 964859381d..f8d356da80 100644
--- a/src/modules/ekf2/EKF/ekf_helper.cpp
+++ b/src/modules/ekf2/EKF/ekf_helper.cpp
@@ -1181,63 +1181,6 @@ void Ekf::loadMagCovData()
 	P(18, 18) = _saved_mag_ef_d_variance;
 }
 
-void Ekf::stopGpsFusion()
-{
-	if (_control_status.flags.gps) {
-		stopGpsPosFusion();
-		stopGpsVelFusion();
-
-		_control_status.flags.gps = false;
-	}
-
-	if (_control_status.flags.gps_yaw) {
-		stopGpsYawFusion();
-	}
-
-	// We do not need to know the true North anymore
-	// EV yaw can start again
-	_inhibit_ev_yaw_use = false;
-}
-
-void Ekf::stopGpsPosFusion()
-{
-	if (_control_status.flags.gps) {
-		ECL_INFO("stopping GPS position fusion");
-		_control_status.flags.gps = false;
-
-		resetEstimatorAidStatus(_aid_src_gnss_pos);
-	}
-}
-
-void Ekf::stopGpsVelFusion()
-{
-	ECL_INFO("stopping GPS velocity fusion");
-
-	resetEstimatorAidStatus(_aid_src_gnss_vel);
-}
-
-void Ekf::startGpsYawFusion(const gpsSample &gps_sample)
-{
-	if (!_control_status.flags.gps_yaw && resetYawToGps(gps_sample.yaw)) {
-		ECL_INFO("starting GPS yaw fusion");
-		_control_status.flags.yaw_align = true;
-		_control_status.flags.mag_dec = false;
-		stopEvYawFusion();
-		stopMagHdgFusion();
-		stopMag3DFusion();
-		_control_status.flags.gps_yaw = true;
-	}
-}
-
-void Ekf::stopGpsYawFusion()
-{
-	if (_control_status.flags.gps_yaw) {
-		ECL_INFO("stopping GPS yaw fusion");
-		_control_status.flags.gps_yaw = false;
-		resetEstimatorAidStatus(_aid_src_gnss_yaw);
-	}
-}
-
 void Ekf::stopAuxVelFusion()
 {
 	ECL_INFO("stopping aux vel fusion");
diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp
index 8a2485ad12..855ba02288 100644
--- a/src/modules/ekf2/EKF/gps_control.cpp
+++ b/src/modules/ekf2/EKF/gps_control.cpp
@@ -380,3 +380,60 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
 		_control_status.flags.yaw_align = false;
 	}
 }
+
+void Ekf::stopGpsFusion()
+{
+	if (_control_status.flags.gps) {
+		stopGpsPosFusion();
+		stopGpsVelFusion();
+
+		_control_status.flags.gps = false;
+	}
+
+	if (_control_status.flags.gps_yaw) {
+		stopGpsYawFusion();
+	}
+
+	// We do not need to know the true North anymore
+	// EV yaw can start again
+	_inhibit_ev_yaw_use = false;
+}
+
+void Ekf::stopGpsPosFusion()
+{
+	if (_control_status.flags.gps) {
+		ECL_INFO("stopping GPS position fusion");
+		_control_status.flags.gps = false;
+
+		resetEstimatorAidStatus(_aid_src_gnss_pos);
+	}
+}
+
+void Ekf::stopGpsVelFusion()
+{
+	ECL_INFO("stopping GPS velocity fusion");
+
+	resetEstimatorAidStatus(_aid_src_gnss_vel);
+}
+
+void Ekf::startGpsYawFusion(const gpsSample &gps_sample)
+{
+	if (!_control_status.flags.gps_yaw && resetYawToGps(gps_sample.yaw)) {
+		ECL_INFO("starting GPS yaw fusion");
+		_control_status.flags.yaw_align = true;
+		_control_status.flags.mag_dec = false;
+		stopEvYawFusion();
+		stopMagHdgFusion();
+		stopMag3DFusion();
+		_control_status.flags.gps_yaw = true;
+	}
+}
+
+void Ekf::stopGpsYawFusion()
+{
+	if (_control_status.flags.gps_yaw) {
+		ECL_INFO("stopping GPS yaw fusion");
+		_control_status.flags.gps_yaw = false;
+		resetEstimatorAidStatus(_aid_src_gnss_yaw);
+	}
+}