diff --git a/.github/workflows/varmint_firmware.yml b/.github/workflows/varmint_firmware.yml
index 9a782e3c..1f894760 100644
--- a/.github/workflows/varmint_firmware.yml
+++ b/.github/workflows/varmint_firmware.yml
@@ -12,7 +12,7 @@ jobs:
     - name: checkout submodules
       run: git submodule update --init --recursive
     - name: install toolchain
-      run: sudo apt -y install gcc-arm-none-eabi libeigen3-dev
+      run: sudo apt -y install gcc-arm-none-eabi
     - name: check toolchain
       run: arm-none-eabi-gcc --version
     - name: build varmint
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c535ebb8..799163d0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,10 +28,16 @@ if("${GIT_VERSION_HASH}" STREQUAL "")
   set(GIT_VERSION_HASH "0")
 endif()
 
-### source files ###
-find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIRS})
+### Install Eigen dependency ###
+include(FetchContent)
+FetchContent_Declare(
+  Eigen3
+  GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+  GIT_TAG origin/3.4
+)
+FetchContent_MakeAvaliable(Eigen3)
 
+### source files ###
 include_directories(
     include
     include/interface
@@ -39,7 +45,7 @@ include_directories(
     comms/mavlink
     comms/mavlink/v1.0
     comms/mavlink/v1.0/common
-    comms/mavlink/v1.0/rosflight
+    ${eigen3_SOURCE_DIR}
 )
 
 file(GLOB_RECURSE ROSFLIGHT_SOURCES