diff --git a/src/deck/drivers/src/lpsTdoa2Tag.c b/src/deck/drivers/src/lpsTdoa2Tag.c
index be324d96a1..49f4abfdb7 100644
--- a/src/deck/drivers/src/lpsTdoa2Tag.c
+++ b/src/deck/drivers/src/lpsTdoa2Tag.c
@@ -38,7 +38,6 @@
 
 #include "estimator.h"
 #include "estimator_kalman.h"
-#include "outlierFilter.h"
 
 #include "physicalConstants.h"
 
@@ -152,12 +151,10 @@ static void enqueueTDOA(uint8_t anchorA, uint8_t anchorB, double distanceDiff) {
     .anchorPosition[1] = options->anchorPosition[anchorB]
   };
 
-  if (outlierFilterValidateTdoa(&tdoa)) {
-    if (options->combinedAnchorPositionOk ||
-        (options->anchorPosition[anchorA].timestamp && options->anchorPosition[anchorB].timestamp)) {
-      stats.packetsToEstimator++;
-      estimatorKalmanEnqueueTDOA(&tdoa);
-    }
+  if (options->combinedAnchorPositionOk ||
+      (options->anchorPosition[anchorA].timestamp && options->anchorPosition[anchorB].timestamp)) {
+    stats.packetsToEstimator++;
+    estimatorKalmanEnqueueTDOA(&tdoa);
   }
 }
 
diff --git a/src/modules/interface/estimator_kalman.h b/src/modules/interface/estimator_kalman.h
index 2ea39776a5..6b973a4ba7 100644
--- a/src/modules/interface/estimator_kalman.h
+++ b/src/modules/interface/estimator_kalman.h
@@ -80,4 +80,4 @@ void estimatorKalmanSetShift(float deltax, float deltay);
 
 void estimatorKalmanGetEstimatedPos(point_t* pos);
 
-#endif // __ESTIMATOR_KALMAN_H__
\ No newline at end of file
+#endif // __ESTIMATOR_KALMAN_H__
diff --git a/src/utils/interface/outlierFilter.h b/src/modules/interface/outlierFilter.h
similarity index 84%
rename from src/utils/interface/outlierFilter.h
rename to src/modules/interface/outlierFilter.h
index c70e3219a2..3296e0fe4a 100644
--- a/src/utils/interface/outlierFilter.h
+++ b/src/modules/interface/outlierFilter.h
@@ -29,7 +29,9 @@
 
 #include "stabilizer_types.h"
 
-bool outlierFilterValidateTdoa(tdoaMeasurement_t* tdoa);
+bool outlierFilterValidateTdoaSimple(const tdoaMeasurement_t* tdoa);
+bool outlierFilterVaildateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos);
+
 void outlierFilterReset();
 
 #endif // __OUTLIER_FILTER_H__
diff --git a/src/modules/interface/stabilizer_types.h b/src/modules/interface/stabilizer_types.h
index a97133b291..d3eea2be29 100644
--- a/src/modules/interface/stabilizer_types.h
+++ b/src/modules/interface/stabilizer_types.h
@@ -52,6 +52,7 @@ struct vec3_s {
   float z;
 };
 
+typedef struct vec3_s vector_t;
 typedef struct vec3_s point_t;
 typedef struct vec3_s velocity_t;
 typedef struct vec3_s acc_t;
diff --git a/src/modules/src/estimator_kalman.c b/src/modules/src/estimator_kalman.c
index 286550acda..c9e9bb06fb 100644
--- a/src/modules/src/estimator_kalman.c
+++ b/src/modules/src/estimator_kalman.c
@@ -56,6 +56,8 @@
  */
 
 #include "estimator_kalman.h"
+#include "outlierFilter.h"
+
 
 #include "stm32f4xx.h"
 
@@ -1019,39 +1021,28 @@ static void stateEstimatorUpdateWithTDOA(tdoaMeasurement_t *tdoa)
     float h[STATE_DIM] = {0};
     arm_matrix_instance_f32 H = {1, STATE_DIM, h};
 
-    // We want to do
-    // h[STATE_X] = (dx1 / d1 - dx0 / d0);
-    // h[STATE_Y] = (dy1 / d1 - dy0 / d0);
-    // h[STATE_Z] = (dz1 / d1 - dz0 / d0);
-    // but have to handle divide by zero
-
-    if (d1 != 0.0f)
-    {
-      h[STATE_X] = dx1 / d1;
-      h[STATE_Y] = dy1 / d1;
-      h[STATE_Z] = dz1 / d1;
-    }
-    else
-    {
-      h[STATE_X] = 1.0f;
-      h[STATE_Y] = 0.0f;
-      h[STATE_Z] = 0.0f;
-    }
-
-    if (d0 != 0.0f)
-    {
-      h[STATE_X] = h[STATE_X] - dx0 / d0;
-      h[STATE_Y] = h[STATE_Y] - dy0 / d0;
-      h[STATE_Z] = h[STATE_Z] - dz0 / d0;
-    }
-    else
-    {
-      h[STATE_X] = h[STATE_X] - 0.0f;
-      h[STATE_Y] = h[STATE_Y] - 1.0f;
-      h[STATE_Z] = h[STATE_Z] - 0.0f;
+    if ((d0 != 0.0f) && (d1 != 0.0f)) {
+      h[STATE_X] = (dx1 / d1 - dx0 / d0);
+      h[STATE_Y] = (dy1 / d1 - dy0 / d0);
+      h[STATE_Z] = (dz1 / d1 - dz0 / d0);
+
+      vector_t jacobian = {
+        .x = h[STATE_X],
+        .y = h[STATE_Y],
+        .z = h[STATE_Z],
+      };
+
+      point_t estimatedPosition = {
+        .x = S[STATE_X],
+        .y = S[STATE_Y],
+        .z = S[STATE_Z],
+      };
+
+      bool sampleIsGood = outlierFilterVaildateTdoaSteps(tdoa, error, &jacobian, &estimatedPosition);
+      if (sampleIsGood) {
+        stateEstimatorScalarUpdate(&H, error, tdoa->stdDev);
+      }
     }
-
-    stateEstimatorScalarUpdate(&H, error, tdoa->stdDev);
   }
 
   tdoaCount++;
diff --git a/src/modules/src/outlierFilter.c b/src/modules/src/outlierFilter.c
new file mode 100644
index 0000000000..f5c904c80b
--- /dev/null
+++ b/src/modules/src/outlierFilter.c
@@ -0,0 +1,160 @@
+/**
+ *    ||          ____  _ __
+ * +------+      / __ )(_) /_______________ _____  ___
+ * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
+ * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
+ *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2011-2018 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * outlierFilter.c: Outlier rejection filter for the LPS system
+ */
+
+#include <math.h>
+#include "outlierFilter.h"
+#include "stabilizer_types.h"
+#include "log.h"
+
+#define BUCKET_ACCEPTANCE_LEVEL 2
+#define MAX_BUCKET_FILL 10
+#define FILTER_CLOSE_DELAY_COUNT 30
+
+static float acceptanceLevel = 0.0;
+static float errorDistance;
+static int filterCloseDelayCounter = 0;
+static int previousFilterIndex = 0;
+
+typedef struct {
+  float acceptanceLevel;
+  int bucket;
+} filterLevel_t;
+
+#define FILTER_LEVELS 5
+#define FILTER_NONE FILTER_LEVELS
+filterLevel_t filterLevels[FILTER_LEVELS] = {
+  {.acceptanceLevel = 0.4},
+  {.acceptanceLevel = 0.8},
+  {.acceptanceLevel = 1.2},
+  {.acceptanceLevel = 1.6},
+  {.acceptanceLevel = 2.0},
+};
+
+
+static bool isDistanceDiffSmallerThanDistanceBetweenAnchors(const tdoaMeasurement_t* tdoa);
+static float distanceSq(const point_t* a, const point_t* b);
+static float sq(float a) {return a * a;}
+static void addToBucket(filterLevel_t* filter);
+static void removeFromBucket(filterLevel_t* filter);
+static int updateBuckets(float errorDistance);
+
+
+
+bool outlierFilterValidateTdoaSimple(const tdoaMeasurement_t* tdoa) {
+  return isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoa);
+}
+
+bool outlierFilterVaildateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos) {
+  bool sampleIsGood = false;
+
+  if (isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoa)) {
+    float errorBaseDistance = sqrtf(powf(jacobian->x, 2) + powf(jacobian->y, 2) + powf(jacobian->z, 2));
+    errorDistance = fabsf(error / errorBaseDistance);
+
+    int filterIndex = updateBuckets(errorDistance);
+
+    if (filterIndex > previousFilterIndex) {
+      filterCloseDelayCounter = FILTER_CLOSE_DELAY_COUNT;
+    } else if (filterIndex < previousFilterIndex) {
+      if (filterCloseDelayCounter > 0) {
+        filterCloseDelayCounter--;
+        filterIndex = previousFilterIndex;
+      }
+    }
+    previousFilterIndex = filterIndex;
+
+    if (filterIndex == FILTER_NONE) {
+      // Lost tracking, open up to let the kalman filter converge
+      acceptanceLevel = 100.0;
+      sampleIsGood = true;
+    } else {
+      acceptanceLevel = filterLevels[filterIndex].acceptanceLevel;
+      if (errorDistance < acceptanceLevel) {
+        sampleIsGood = true;
+      }
+    }
+  }
+
+  return sampleIsGood;
+}
+
+void outlierFilterReset() {
+  // Nothing here
+}
+
+static bool isDistanceDiffSmallerThanDistanceBetweenAnchors(const tdoaMeasurement_t* tdoa) {
+  float anchorDistanceSq = distanceSq(&tdoa->anchorPosition[0], &tdoa->anchorPosition[1]);
+  float distanceDiffSq = sq(tdoa->distanceDiff);
+  return (distanceDiffSq < anchorDistanceSq);
+}
+
+static float distanceSq(const point_t* a, const point_t* b) {
+  return sq(a->x - b->x) + sq(a->y - b->y) + sq(a->z - b->z);
+}
+
+
+static void addToBucket(filterLevel_t* filter) {
+  if (filter->bucket < MAX_BUCKET_FILL) {
+    filter->bucket++;
+  }
+}
+
+static void removeFromBucket(filterLevel_t* filter) {
+  if (filter->bucket > 0) {
+    filter->bucket--;
+  }
+}
+
+static int updateBuckets(float errorDistance) {
+  int filterIndex = FILTER_NONE;
+
+  for (int i = FILTER_LEVELS - 1; i >= 0; i--) {
+    filterLevel_t* filter = &filterLevels[i];
+
+    if (errorDistance < filter->acceptanceLevel) {
+      removeFromBucket(filter);
+    } else {
+      addToBucket(filter);
+    }
+
+    if (filter->bucket < BUCKET_ACCEPTANCE_LEVEL) {
+      filterIndex = i;
+    }
+  }
+
+  return filterIndex;
+}
+
+LOG_GROUP_START(outlierf)
+  LOG_ADD(LOG_INT32, bucket0, &filterLevels[0].bucket)
+  LOG_ADD(LOG_INT32, bucket1, &filterLevels[1].bucket)
+  LOG_ADD(LOG_INT32, bucket2, &filterLevels[2].bucket)
+  LOG_ADD(LOG_INT32, bucket3, &filterLevels[3].bucket)
+  LOG_ADD(LOG_INT32, bucket4, &filterLevels[4].bucket)
+  LOG_ADD(LOG_FLOAT, accLev, &acceptanceLevel)
+  LOG_ADD(LOG_FLOAT, errD, &errorDistance)
+
+LOG_GROUP_STOP(outlierf)
diff --git a/src/utils/src/outlierFilter.c b/src/utils/src/outlierFilter.c
deleted file mode 100644
index 1ebe279d12..0000000000
--- a/src/utils/src/outlierFilter.c
+++ /dev/null
@@ -1,51 +0,0 @@
-/**
- *    ||          ____  _ __
- * +------+      / __ )(_) /_______________ _____  ___
- * | 0xBC |     / __  / / __/ ___/ ___/ __ `/_  / / _ \
- * +------+    / /_/ / / /_/ /__/ /  / /_/ / / /_/  __/
- *  ||  ||    /_____/_/\__/\___/_/   \__,_/ /___/\___/
- *
- * Crazyflie control firmware
- *
- * Copyright (C) 2011-2018 Bitcraze AB
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, in version 3.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- * outlierFilter.c: Outlier rejection filter for the LPS system
- */
-
-#include <math.h>
-#include "outlierFilter.h"
-
-static bool isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoaMeasurement_t* tdoa);
-static float distanceSq(const point_t* a, const point_t* b);
-static float sq(float a) {return a * a;}
-
-
-bool outlierFilterValidateTdoa(tdoaMeasurement_t* tdoa) {
-  return isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoa);
-}
-
-void outlierFilterReset() {
-  // Nothing here
-}
-
-static bool isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoaMeasurement_t* tdoa) {  
-  float anchorDistanceSq = distanceSq(&tdoa->anchorPosition[0], &tdoa->anchorPosition[1]);
-  float distanceDiffSq = sq(tdoa->distanceDiff);
-  return (distanceDiffSq < anchorDistanceSq);
-}
-
-static float distanceSq(const point_t* a, const point_t* b) {
-  return sq(a->x - b->x) + sq(a->y - b->y) + sq(a->z - b->z);
-}
diff --git a/src/utils/src/tdoa/tdoaEngine.c b/src/utils/src/tdoa/tdoaEngine.c
index d9720f9244..42cd8e75f0 100644
--- a/src/utils/src/tdoa/tdoaEngine.c
+++ b/src/utils/src/tdoa/tdoaEngine.c
@@ -50,7 +50,6 @@ The implementation must handle
 
 #include "tdoaEngine.h"
 #include "tdoaStats.h"
-#include "outlierFilter.h"
 #include "clockCorrectionEngine.h"
 #include "physicalConstants.h"
 
@@ -77,7 +76,6 @@ static void enqueueTDOA(const tdoaAnchorContext_t* anchorACtx, const tdoaAnchorC
   };
 
   if (tdoaStorageGetAnchorPosition(anchorACtx, &tdoa.anchorPosition[0]) && tdoaStorageGetAnchorPosition(anchorBCtx, &tdoa.anchorPosition[1])) {
-    if (outlierFilterValidateTdoa(&tdoa)) {
       stats->packetsToEstimator++;
       engineState->sendTdoaToEstimator(&tdoa);
 
@@ -89,7 +87,6 @@ static void enqueueTDOA(const tdoaAnchorContext_t* anchorACtx, const tdoaAnchorC
       if (idB == stats->anchorId && idA == stats->remoteAnchorId) {
         stats->tdoa = -distanceDiff;
       }
-    }
   }
 }
 
diff --git a/test/deck/drivers/src/TestLpsTdoa2Tag.c b/test/deck/drivers/src/TestLpsTdoa2Tag.c
index 366a674232..8b71ae0e27 100644
--- a/test/deck/drivers/src/TestLpsTdoa2Tag.c
+++ b/test/deck/drivers/src/TestLpsTdoa2Tag.c
@@ -9,7 +9,6 @@
 #include "mock_cfassert.h"
 #include "mock_estimator_kalman.h"
 #include "mock_locodeck.h"
-#include "mock_outlierFilter.h"
 
 #include "dw1000Mocks.h"
 #include "freertosMocks.h"
@@ -394,7 +393,6 @@ void testMissingTimestampInhibitsClockDriftCalculationInFirstIteration() {
   mockKalmanEstimator(0, 5, expectedDiff);
   mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -453,7 +451,6 @@ void testMissingPacketAnchorToAnchorInhibitsDiffCalculation() {
   // Not called
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -512,7 +509,6 @@ void testMissingAnchorToAnchorDistanceInhibitsDiffCalculation() {
   // Not called
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -570,7 +566,6 @@ void testMissingPacketPacketAnchorToAnchorInhibitsDiffCalculation() {
   // Not called
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -628,7 +623,6 @@ void testMissingPacketPacketAnchorToAnchorInhibitsDiffCalculationWhenSequenceNrW
   // Not called
   // mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -695,7 +689,6 @@ void testMissingPacketAnchorToTagInhibitsDiffCalculation() {
 
   // Not called since previous packet from same anchor was lost
   //  mockKalmanEstimator(5, 0, -expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -709,58 +702,6 @@ void testMissingPacketAnchorToTagInhibitsDiffCalculation() {
   // Nothing here, verification in mocks
 }
 
-void testDataNotSentToKalmanFilterWhenOutlierDetected() {
-  // Fixture
-  // Two anchors, separated by 1.0m
-  // Distance from A0 to tag is 2.0m
-  // Distance from A5 to tag is 2.5m
-
-  // Ideal times in universal clock
-  uint64_t timeA0ToTag = time2m;
-  uint64_t timeA5ToTag = time2_5m;
-  uint64_t timeA0ToA5 = time1m;
-
-  mockMessageFromAnchor(5, iTxTime0_5 + timeA5ToTag,
-    (uint8_t[]) {10,                      0,  0,  0,  0,  20,                      0,  0},
-    (uint64_t[]){NS,                      NS, NS, NS, NS, iTxTime0_5,              NS, NS},
-    (uint64_t[]){NS,                      NS, NS, NS, NS, NS,                      NS, NS});
-
-  mockMessageFromAnchor(0, iTxTime1_0 + timeA0ToTag,
-    (uint8_t[]) {11,                      0,  0,  0,  0,  20,                      0,  0},
-    (uint64_t[]){iTxTime1_0,              NS, NS, NS, NS, iTxTime0_5 + timeA0ToA5, NS, NS},
-    (uint64_t[]){NS,                      NS, NS, NS, NS, timeA0ToA5,              NS, NS});
-
-  mockMessageFromAnchor(5, iTxTime1_5 + timeA5ToTag,
-    (uint8_t[]) {11,                      0,  0,  0,  0,  21,                      0,  0},
-    (uint64_t[]){iTxTime1_0 + timeA0ToA5, NS, NS, NS, NS, iTxTime1_5,              NS, NS},
-    (uint64_t[]){timeA0ToA5,              NS, NS, NS, NS, NS,                      NS, NS});
-
-  mockMessageFromAnchor(0, iTxTime2_0 + timeA0ToTag,
-    (uint8_t[]) {12,                      0,  0,  0,  0,  21,                      0, 0},
-    (uint64_t[]){iTxTime2_0,              NS, NS, NS, NS, iTxTime1_5 + timeA0ToA5, NS, NS},
-    (uint64_t[]){NS,                      NS, NS, NS, NS, timeA0ToA5,              NS, NS});
-
-  mockMessageFromAnchor(5, iTxTime2_5 + timeA5ToTag,
-    (uint8_t[]) {12,                      0,  0,  0,  0,  22,                      0, 0},
-    (uint64_t[]){iTxTime2_0 + timeA0ToA5, NS, NS, NS, NS, iTxTime2_5,              NS, NS},
-    (uint64_t[]){timeA0ToA5,              NS, NS, NS, NS, NS,                      NS, NS});
-
-
-  // The outlier filter reports that the data is identified as outliers and should
-  // not be sent to the kalman filter
-  outlierFilterValidateTdoa_IgnoreAndReturn(false);
-
-  // Test
-  uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
-  uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
-  uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
-  uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
-  uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
-
-  // Assert
-  // Nothing here, verification in mocks
-}
-
 void testPacketReceivedEventShouldSetTheRadioInReceiveMode() {
   // Fixture
   // mockRadioSetToReceiveMode() called as part of mockMessageFromAnchor()
@@ -938,7 +879,6 @@ void testDifferenceOfDistanceNotPushedInKalmanIfAnchorsPositionIsInValid() {
     (uint64_t[]){timeA0ToA1,                    NS,               NS, NS, NS, NS, NS, NS});
 
   // The measurement should not be pushed in the kalman filter
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -1175,7 +1115,6 @@ void verifyDifferenceOfDistanceWithNoClockDriftButConfigurableClockOffset(uint64
 
   // Only the last message will create calls to the estimator. The two first are discarded due to missing data.
   mockKalmanEstimator(0, 1, expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
@@ -1236,7 +1175,6 @@ void verifyDifferenceOfDistanceWithTwoAnchors3FramesWithClockDrift(float driftTa
   mockKalmanEstimator(0, 5, expectedDiff);
   mockKalmanEstimator(5, 0, -expectedDiff);
   mockKalmanEstimator(0, 5, expectedDiff);
-  outlierFilterValidateTdoa_IgnoreAndReturn(true);
 
   // Test
   uwbTdoa2TagAlgorithm.onEvent(&dev, eventPacketReceived);
diff --git a/test/deck/drivers/src/TestOutlierFilter.c b/test/modules/src/TestOutlierFilter.c
similarity index 86%
rename from test/deck/drivers/src/TestOutlierFilter.c
rename to test/modules/src/TestOutlierFilter.c
index dbf0aa021f..563208447d 100644
--- a/test/deck/drivers/src/TestOutlierFilter.c
+++ b/test/modules/src/TestOutlierFilter.c
@@ -32,7 +32,7 @@ void testThatSamplesAreAcceptedWhenTdoaIsCloserThanDistanceBetweenAnchors() {
   bool expected = true;
 
   // Test
-  bool actual = outlierFilterValidateTdoa(&tdoa);
+  bool actual = outlierFilterValidateTdoaSimple(&tdoa);
 
   // Assert
   TEST_ASSERT_EQUAL(actual, expected);
@@ -45,7 +45,7 @@ void testThatSamplesAreRejectedWhenTdoaIsGreaterThanDistanceBetweenAnchors() {
   bool expected = false;
 
   // Test
-  bool actual = outlierFilterValidateTdoa(&tdoa);
+  bool actual = outlierFilterValidateTdoaSimple(&tdoa);
 
   // Assert
   TEST_ASSERT_EQUAL(actual, expected);
@@ -58,7 +58,7 @@ void testThatSamplesAreRejectedWhenTdoaIsGreaterButNegativeThanDistanceBetweenAn
   bool expected = false;
 
   // Test
-  bool actual = outlierFilterValidateTdoa(&tdoa);
+  bool actual = outlierFilterValidateTdoaSimple(&tdoa);
 
   // Assert
   TEST_ASSERT_EQUAL(actual, expected);
diff --git a/tools/test/gcc.yml b/tools/test/gcc.yml
index f3f9370fcb..61dbdb21a8 100644
--- a/tools/test/gcc.yml
+++ b/tools/test/gcc.yml
@@ -34,6 +34,7 @@ compiler:
       - 'src/config/'
       - 'src/drivers/interface/'
       - 'src/modules/interface/'
+      - 'src/modules/src/'
       - 'src/lib/FreeRTOS/portable/GCC/ARM_CM4F/'
       - 'src/hal/interface/'
       - 'test/testSupport/'