diff --unified --recursive --text AirSim-1.3.1-linux/cmake/AirLib/CMakeLists.txt AirSim-1.3.1-linux.new/cmake/AirLib/CMakeLists.txt
--- AirSim-1.3.1-linux/cmake/AirLib/CMakeLists.txt	2020-04-08 19:40:08.000000000 -0400
+++ AirSim-1.3.1-linux.new/cmake/AirLib/CMakeLists.txt	2020-05-22 20:14:03.895721024 -0400
@@ -28,6 +28,7 @@
 CommonTargetLink()
 target_link_libraries(${PROJECT_NAME} ${RPC_LIB})
 target_link_libraries(${PROJECT_NAME} MavLinkCom)
+target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
 
 #string(SUBSTRING ${CMAKE_STATIC_LINKER_FLAGS} 9 -1 "BUILD_PLATFORM")
 #find_package(Threads REQUIRED)
diff --unified --recursive --text AirSim-1.3.1-linux/cmake/CMakeLists.txt AirSim-1.3.1-linux.new/cmake/CMakeLists.txt
--- AirSim-1.3.1-linux/cmake/CMakeLists.txt	2020-04-08 19:40:08.000000000 -0400
+++ AirSim-1.3.1-linux.new/cmake/CMakeLists.txt	2020-05-22 20:14:28.538801669 -0400
@@ -1,10 +1,8 @@
 cmake_minimum_required(VERSION 3.5.0)
 project(AirSim)
 
-add_subdirectory("rpclib_wrapper")
 add_subdirectory("AirLib")
 add_subdirectory("MavLinkCom")
-add_subdirectory("AirLibUnitTests")
 add_subdirectory("HelloDrone")
 add_subdirectory("HelloCar")
 add_subdirectory("DroneShell")
diff --unified --recursive --text AirSim-1.3.1-linux/cmake/cmake-modules/CommonSetup.cmake AirSim-1.3.1-linux.new/cmake/cmake-modules/CommonSetup.cmake
--- AirSim-1.3.1-linux/cmake/cmake-modules/CommonSetup.cmake	2020-04-08 19:40:08.000000000 -0400
+++ AirSim-1.3.1-linux.new/cmake/cmake-modules/CommonSetup.cmake	2020-05-22 20:15:43.882542971 -0400
@@ -6,7 +6,8 @@
 endmacro(CommonTargetLink)
 
 macro(IncludeEigen)
-    include_directories(${AIRSIM_ROOT}/AirLib/deps/eigen3)
+    find_package(Eigen3 REQUIRED)
+    include_directories(${Eigen_INCLUDE_DIRS})
 endmacro(IncludeEigen)
 
 macro(AddExecutableSource)
@@ -53,11 +54,12 @@
             set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wstrict-aliasing -D__CLANG__")
         else ()
             set(CMAKE_CXX_FLAGS "\
-                -std=c++17 -stdlib=libc++ -ggdb -Wall -Wextra -Wstrict-aliasing -Wunreachable-code -Wcast-qual -Wctor-dtor-privacy \
+                -std=c++17 -ggdb -Wall -Wextra -Wstrict-aliasing -Wunreachable-code -Wcast-qual -Wctor-dtor-privacy \
                 -Wdisabled-optimization -Wformat=2 -Winit-self -Wmissing-include-dirs -Wswitch-default \
                 -Wold-style-cast -Woverloaded-virtual -Wredundant-decls -Wshadow -Wstrict-overflow=5 -Wswitch-default -Wundef \
                 -Wno-variadic-macros -Wno-parentheses -Wno-unused-function -Wno-unused -Wno-documentation -fdiagnostics-show-option \
                 -pthread \
+                -fpermissive \
                 ${RPC_LIB_DEFINES} ${CMAKE_CXX_FLAGS}")
 
             if (${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")