diff --git a/CMakeLists.txt b/CMakeLists.txt
index afd7bb94..a8ccb883 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -267,15 +267,18 @@ endif (R_LANG)
 
 # Create Static Library
 # ----------------------------------------------
-
+include(GNUInstallDirs)
+include(FindPkgConfig)
+pkg_search_module(qdldl REQUIRED IMPORTED_TARGET qdldl)
 # Add linear system solvers cumulative library
 add_subdirectory(lin_sys)
 
+if(NOT BUILD_SHARED_LIBS)
 # Static library
 add_library (osqpstatic STATIC ${osqp_src} ${osqp_headers} ${linsys_solvers})
 # Give same name to static library output
 set_target_properties(osqpstatic PROPERTIES OUTPUT_NAME osqp)
-
+target_link_libraries(osqpstatic PkgConfig::qdldl)
 # Include directories for linear system solvers
 target_include_directories(osqpstatic PRIVATE ${linsys_solvers_includes})
 
@@ -294,7 +297,7 @@ install(TARGETS osqpstatic
         ARCHIVE       DESTINATION "${CMAKE_INSTALL_LIBDIR}"
         LIBRARY       DESTINATION "${CMAKE_INSTALL_LIBDIR}"
         RUNTIME       DESTINATION "${CMAKE_INSTALL_BINDIR}")
-
+endif()
 
 # Install Headers
 # ----------------------------------------------
@@ -310,10 +313,11 @@ endif (MATLAB)
 # If we are building Python/Matlab/R interface:
 #   - do not build shared library
 #   - do not build demo
-if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
+if (BUILD_SHARED_LIBS)
     # Create osqp shared library
     # NB: Add all the linear system solvers here
     add_library (osqp SHARED ${osqp_src} ${osqp_headers} ${linsys_solvers})
+    target_link_libraries(osqp PkgConfig::qdldl)
 
     # Include directories for linear system solvers
     target_include_directories(osqp PRIVATE ${linsys_solvers_includes})
@@ -331,10 +335,9 @@ if (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
             RUNTIME       DESTINATION "${CMAKE_INSTALL_BINDIR}")
 
     # Create demo executable (linked to static library)
-    add_executable (osqp_demo ${PROJECT_SOURCE_DIR}/examples/osqp_demo.c)
-    target_link_libraries (osqp_demo osqpstatic)
 
-endif (NOT PYTHON AND NOT MATLAB AND NOT R_LANG AND NOT EMBEDDED)
+
+endif (BUILD_SHARED_LIBS)
 
 # Create CMake packages for the build directory
 # ----------------------------------------------
diff --git a/lin_sys/direct/CMakeLists.txt b/lin_sys/direct/CMakeLists.txt
index c36c375a..2942cc9f 100644
--- a/lin_sys/direct/CMakeLists.txt
+++ b/lin_sys/direct/CMakeLists.txt
@@ -6,7 +6,7 @@ add_subdirectory(qdldl)
 
 # Need to add qdldlobject only here because it cannot be
 # included in another object library such as linsys_qdldl
-set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> $<TARGET_OBJECTS:qdldlobject>)
+set(direct_linsys_solvers $<TARGET_OBJECTS:linsys_qdldl> )
 
 # NB. The second directory is added because we need to include the "qdldl_types.h" file in "qdldl_interface.h"
 set(direct_linsys_solvers_includes
diff --git a/lin_sys/direct/qdldl/CMakeLists.txt b/lin_sys/direct/qdldl/CMakeLists.txt
index d78c4a38..b3429a12 100644
--- a/lin_sys/direct/qdldl/CMakeLists.txt
+++ b/lin_sys/direct/qdldl/CMakeLists.txt
@@ -1,5 +1,4 @@
 # Add qdldl
-add_subdirectory(qdldl_sources)
 
 
 if(NOT DEFINED EMBEDDED)
@@ -39,3 +38,4 @@ set(qdldl_interface_src
 # Create object library for linear system solver interface
 add_library(linsys_qdldl OBJECT ${qdldl_interface_src})
 target_include_directories(linsys_qdldl PRIVATE ${qdldl_interface_includes} ${PROJECT_SOURCE_DIR}/include)
+target_link_libraries(linsys_qdldl PkgConfig::qdldl)