diff --git a/cmake/modules/FindEigen3.cmake b/cmake/modules/FindEigen3.cmake
index 73b0b90062..a03f5ddf3f 100644
--- a/cmake/modules/FindEigen3.cmake
+++ b/cmake/modules/FindEigen3.cmake
@@ -25,5 +25,6 @@ include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR)
 
 if(EIGEN3_FOUND)
-	set(EIGEN_FOUND TRUE)
-endif()
\ No newline at end of file
+  set(EIGEN_FOUND TRUE)
+  set(EIGEN_INCLUDE_DIR ${EIGEN3_INCLUDE_DIR})
+endif()
diff --git a/panda/src/linmath/CMakeLists.txt b/panda/src/linmath/CMakeLists.txt
index 630ea6e7ce..d45048316a 100644
--- a/panda/src/linmath/CMakeLists.txt
+++ b/panda/src/linmath/CMakeLists.txt
@@ -45,6 +45,7 @@ set(P3LINMATH_SOURCES
 composite_sources(p3linmath P3LINMATH_SOURCES)
 add_library(p3linmath ${P3LINMATH_HEADERS} ${P3LINMATH_SOURCES})
 target_link_libraries(p3linmath p3putil)
+target_use_packages(p3linmath EIGEN)
 target_interrogate(p3linmath ALL)
 
 install(TARGETS p3linmath DESTINATION lib)