diff --git a/package.xml b/package.xml
index 3d7f17c1f3..d2eb83f934 100644
--- a/package.xml
+++ b/package.xml
@@ -43,7 +43,6 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_depend>eigen</build_depend>
   <build_depend>libmavconn</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>rostest</build_depend>
@@ -51,7 +50,6 @@
   <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
-  <run_depend>eigen</run_depend>
   <run_depend>libmavconn</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>mav_msgs</run_depend>
diff --git a/src/lib/px4_eigen.h b/src/lib/px4_eigen.h
deleted file mode 100644
index f125bcbbf5..0000000000
--- a/src/lib/px4_eigen.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/****************************************************************************
- *
- *   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
-#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/tests_main.c b/src/systemcmds/tests/tests_main.c
index 7d4049cd11..8acc2b3041 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -47,9 +47,6 @@
 #include <fcntl.h>
 #include <errno.h>
 
-// Not using Eigen at the moment
-#define TESTS_EIGEN_DISABLE
-
 
 static int test_help(int argc, char *argv[]);
 static int test_runner(unsigned option);