diff --git a/src/lib/px4_eigen.h b/src/lib/px4_eigen.h
new file mode 100644
index 0000000000..2cd98e59aa
--- /dev/null
+++ b/src/lib/px4_eigen.h
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file px4_eigen.h
+ *
+ * Compatability header to make Eigen compile on the PX4 stack
+ * @author Johan Jansen <jnsn.johan@gmail.com>
+ */
+
+#pragma once
+
+#pragma GCC diagnostic push
+#define RAND_MAX __RAND_MAX
+#pragma GCC diagnostic ignored "-Wshadow"
+#pragma GCC diagnostic ignored "-Wfloat-equal"
+#define _GLIBCXX_USE_C99_FP_MACROS_DYNAMIC 1
+
+#include <eigen/Eigen/Core>
+#include <eigen/Eigen/Geometry>
+#pragma GCC diagnostic pop
diff --git a/src/systemcmds/tests/test_eigen.cpp b/src/systemcmds/tests/test_eigen.cpp
index 0c9ee810aa..ed04d39a1b 100644
--- a/src/systemcmds/tests/test_eigen.cpp
+++ b/src/systemcmds/tests/test_eigen.cpp
@@ -38,17 +38,7 @@
  * @author Johan Jansen <jnsn.johan@gmail.com>
  */
 
-//Hacks to make Eigen compile on NuttX
-#pragma GCC diagnostic push
-#define RAND_MAX __RAND_MAX
-#pragma GCC diagnostic ignored "-Wshadow"
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#define _GLIBCXX_USE_C99_FP_MACROS_DYNAMIC 1
-
-#include <eigen/Eigen/Core>
-#include <eigen/Eigen/Geometry>
-#pragma GCC diagnostic pop
-
+#include <px4_eigen.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <unistd.h>