diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9486bf13fb..fb13d8283a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -225,7 +225,6 @@ px4_add_git_submodule(TARGET git_gencpp PATH "Tools/gencpp")
 px4_add_git_submodule(TARGET git_mavlink PATH "mavlink/include/mavlink/v1.0")
 px4_add_git_submodule(TARGET git_gtest PATH "unittets/gtest")
 px4_add_git_submodule(TARGET git_uavcan PATH "src/modules/uavcan/libuavcan")
-px4_add_git_submodule(TARGET git_eigen PATH "src/lib/eigen")
 px4_add_git_submodule(TARGET git_nuttx PATH "NuttX")
 px4_add_git_submodule(TARGET git_dspal PATH "src/lib/dspal")
 px4_add_git_submodule(TARGET git_jmavsim PATH "Tools/jMAVSim")
@@ -288,7 +287,7 @@ px4_generate_messages(TARGET msg_gen
 px4_generate_parameters_xml(OUT parameters.xml BOARD ${BOARD})
 px4_generate_airframes_xml(OUT airframes.xml BOARD ${BOARD})
 add_custom_target(xml_gen
-	DEPENDS git_eigen parameters.xml airframes.xml)
+	DEPENDS parameters.xml airframes.xml)
 
 #=============================================================================
 # external projects
diff --git a/src/lib/eigen b/src/lib/eigen
deleted file mode 160000
index eb7213abbf..0000000000
--- a/src/lib/eigen
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit eb7213abbf38a987a18ed5071172d9d26cc38306
diff --git a/src/platforms/common/CMakeLists.txt b/src/platforms/common/CMakeLists.txt
index 7b50768ac1..09defae9b4 100644
--- a/src/platforms/common/CMakeLists.txt
+++ b/src/platforms/common/CMakeLists.txt
@@ -37,10 +37,6 @@ set(depends
 	git_uavcan
 	)
 
-if(${OS} STREQUAL "posix" OR ${BOARD} STREQUAL "sim")
-	list(APPEND depends git_eigen)
-endif()
-
 px4_add_module(
 	MODULE platforms__common
 	SRCS