diff --git a/ports/wpilib/CONTROL b/ports/wpilib/CONTROL
index a7542e8b80..b377842255 100644
--- a/ports/wpilib/CONTROL
+++ b/ports/wpilib/CONTROL
@@ -1,6 +1,6 @@
 Source: wpilib
-Version: 2019.5.1
-Build-Depends: libuv
+Version: 2019.6.1
+Build-Depends: eigen3, libuv
 Description: WPILib is the software library package for the FIRST Robotics Competition. The core install includes wpiutil, a common utilies library, and ntcore, the base NetworkTables library.
 
 Feature: cameraserver
@@ -8,5 +8,5 @@ Build-Depends: opencv
 Description: Enables the CameraServer and CSCore libraries for manipulating USB Cameras and HTTP Camera Streams
 
 Feature: allwpilib
-Build-Depends: wpilib[cameraserver] opencv
+Build-Depends: wpilib[cameraserver], opencv
 Description: Enables the simulation HAL, and the high level wpilibc library.
diff --git a/ports/wpilib/portfile.cmake b/ports/wpilib/portfile.cmake
index 314f0111b8..4500400c70 100644
--- a/ports/wpilib/portfile.cmake
+++ b/ports/wpilib/portfile.cmake
@@ -3,8 +3,8 @@ include(vcpkg_common_functions)
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO wpilibsuite/allwpilib
-    REF 3dfb01d45b971ffdfeea50ce58653eff592807d9
-    SHA512 188923cbe166f5812a24a06d8af56bda289aaed38231d45583d423e51e9cd23bb257ade02fdc26e8d0fdd6cdcb793282c04ac80ebad76f29fdbd0a3c1a10f05c
+    REF d10a1a797720014197c21dee38fdced73454dca4
+    SHA512 a76e8652b6d6a921d466e08bcf162ee1b28c06af031b616b2333f8a9479ffd12d1c301182dac86e5d7d59909a21cbee4e551028393df80671336546c14ecf606
 )
 
 set(WITHOUT_JAVA ON)
@@ -28,6 +28,7 @@ vcpkg_configure_cmake(
       -DWITHOUT_CSCORE=${WITHOUT_CSCORE}
       -DWITHOUT_ALLWPILIB=${WITHOUT_ALLWPILIB}
       -DUSE_VCPKG_LIBUV=ON
+      -DUSE_VCPKG_EIGEN=ON
       -DFLAT_INSTALL_WPILIB=ON
 )
 vcpkg_install_cmake()