diff --git a/.travis.yml b/.travis.yml
index 4832bc6e9d..d4d3d338c1 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,10 +7,10 @@ before_install:
 - sudo apt-get update -qq
 
 install:
-- sudo apt-get install -qq g++-4.8
+- sudo apt-get install -qq g++-4.8 libeigen3-dev
 - export CXX="g++-4.8"
 
 before_script:
  - chmod +x build.sh
 
-script: ./build.sh
\ No newline at end of file
+script: ./build.sh
diff --git a/EKF/CMakeLists.txt b/EKF/CMakeLists.txt
index 9a97cf63d1..e4010f3e1c 100644
--- a/EKF/CMakeLists.txt
+++ b/EKF/CMakeLists.txt
@@ -35,14 +35,15 @@ cmake_minimum_required(VERSION 2.8)
 
 project (ECL CXX)
 set(CMAKE_BUILD_TYPE Release)
-set(CMAKE_CURRENT_SOURCE_DIR ./)
 set(CMAKE_CXX_FLAGS "-DPOSIX_SHARED")
-set(EIGEN3_INCLUDE_DIR "/usr/local/include/eigen3/")
 
-IF( NOT EIGEN3_INCLUDE_DIR )
-	MESSAGE( FATAL_ERROR "Please point the environment variable EIGEN3_INCLUDE_DIR to the include directory of your Eigen3 installation.")
-ENDIF()
-INCLUDE_DIRECTORIES ( "${EIGEN3_INCLUDE_DIR}" )
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
+message("looking for FindEigen3.cmake in ${CMAKE_MODULE_PATH}")
+find_package(Eigen3 REQUIRED)
+
+if( NOT EIGEN3_INCLUDE_DIR )
+	message( FATAL_ERROR "Eigen3 not found.")
+endif()
 
 if( NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/../matrix/.git" )
 message( SEND_ERROR "The git submodules are not available. Please run
@@ -54,9 +55,9 @@ include_directories(
 	./
 	../
 	../matrix
-	EIGEN3_INCLUDE_DIR
+	${EIGEN3_INCLUDE_DIR}
 )
-set(SRCS 
+set(SRCS
 	estimator_interface.cpp
 	ekf.cpp
 	ekf_helper.cpp
@@ -70,4 +71,8 @@ set(SRCS
 	mathlib.cpp
 )
 add_definitions(-std=c++11 -Wall -Werror)
+
+# Eigen throws various warnings
+add_definitions(-Wno-deprecated-declarations -Wno-enum-compare -Wno-unused-local-typedefs)
+
 add_library(ecl SHARED ${SRCS})
diff --git a/EKF/FindEigen3.cmake b/EKF/FindEigen3.cmake
new file mode 100644
index 0000000000..cea1afeabc
--- /dev/null
+++ b/EKF/FindEigen3.cmake
@@ -0,0 +1,90 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+#
+# This module reads hints about search locations from 
+# the following enviroment variables:
+#
+# EIGEN3_ROOT
+# EIGEN3_ROOT_DIR
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if (EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else (EIGEN3_INCLUDE_DIR)
+
+  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
+      HINTS
+      ENV EIGEN3_ROOT 
+      ENV EIGEN3_ROOT_DIR
+      PATHS
+      ${CMAKE_INSTALL_PREFIX}/include
+      ${KDE4_INCLUDE_DIR}
+      PATH_SUFFIXES eigen3 eigen
+    )
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
+
diff --git a/README.md b/README.md
index c3538ab7c0..7f09d55deb 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ECL
 
-#### Very lightweight Estimation & Control Library.
+**Very lightweight Estimation & Control Library.**
 
 [![Build Status](https://travis-ci.org/PX4/ecl.svg?branch=master)](https://travis-ci.org/PX4/ecl)
 
@@ -8,11 +8,35 @@ This library solves the estimation & control problems of a number of robots and
 
 The library is currently BSD licensed, but might move to Apache 2.0.
 ## Building EKF Library
-Prerequisite:
+
+### Prerequisites:
+
   * Eigen3: http://eigen.tuxfamily.org/index.php installed
 
+#### Ubuntu:
+
+```
+sudo apt-get install libeigen3-dev
+```
+
+#### Mac
+
+```
+brew install eigen
+```
+
+
 By following the steps mentioned below you can create a shared library which can be included in projects using `-l` flag of gcc:
-  * mkdir Build/
-  * cd Build/
-  * cmake ../EKF
-  * make
+
+```
+mkdir Build/
+cd Build/
+cmake ../EKF
+make
+```
+
+Alternatively, just run:
+
+```
+./build.sh
+```
diff --git a/build.sh b/build.sh
index 4b45e5592d..5daff21095 100755
--- a/build.sh
+++ b/build.sh
@@ -1,6 +1,7 @@
+#!/bin/sh
 ############################################################################
 #
-#   Copyright (c) 2015 ECL Development Team. All rights reserved.
+#   Copyright (c) 2015-2016 ECL Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,19 +32,12 @@
 #
 ############################################################################
 
-#download, build and install eigen
-wget -O eigen.tar.bz2 http://bitbucket.org/eigen/eigen/get/3.2.8.tar.bz2
-mkdir eigen
-tar -xvjf eigen.tar.bz2 -C eigen --strip-components=1
-mkdir eigen-build
-cd eigen-build
-cmake ../eigen
-make
-sudo make install
+# Exit on any error.
+set -e
 
-#build EKF shared library
-cd ..
+# Build EKF shared library.
 mkdir Build
 cd Build
 cmake ../EKF
 make
+cd ..