diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5ea7135..c0883e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -27,7 +27,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED 11)
 
 project(OsqpEigen
   LANGUAGES CXX
-  VERSION 0.5.0)
+  VERSION 0.5.1)
 
 # add GNU dirs
 include(GNUInstallDirs)
@@ -102,7 +102,7 @@ install(TARGETS ${LIBRARY_TARGET_NAME}
 include(InstallBasicPackageFiles)
 install_basic_package_files(${PROJECT_NAME}
   VERSION ${${PROJECT_NAME}_VERSION}
-  COMPATIBILITY SameMinorVersion
+  COMPATIBILITY SameMajorVersion
   VARS_PREFIX ${PROJECT_NAME}
   NO_CHECK_REQUIRED_COMPONENTS_MACRO
   CONFIG_TEMPLATE ${CMAKE_SOURCE_DIR}/cmake/OsqpEigenConfig.cmake.in)
diff --git a/cmake/BasicConfigVersion-SameMinorVersion.cmake.in b/cmake/BasicConfigVersion-SameMinorVersion.cmake.in
deleted file mode 100644
index e2030d2..0000000
--- a/cmake/BasicConfigVersion-SameMinorVersion.cmake.in
+++ /dev/null
@@ -1,55 +0,0 @@
-# This is a basic version file for the Config-mode of find_package().
-# It is used by write_basic_package_version_file() as input file for configure_file()
-# to create a version-file which can be installed along a config.cmake file.
-#
-# The created file sets PACKAGE_VERSION_EXACT if the current version string and
-# the requested version string are exactly the same and it sets
-# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version,
-# but only if the requested major and minor versions are the same as the current
-# one.
-# The variable CVF_VERSION must be set before calling configure_file().
-
-
-set(PACKAGE_VERSION "@CVF_VERSION@")
-
-if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
-  set(PACKAGE_VERSION_COMPATIBLE FALSE)
-else()
-
-  if("@CVF_VERSION@" MATCHES "^([0-9]+)\\.([0-9]+)")
-    set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
-    set(CVF_VERSION_MINOR "${CMAKE_MATCH_2}")
-  else()
-    set(CVF_VERSION_MAJOR "@CVF_VERSION@")
-    set(CVF_VERSION_MINOR "")
-  endif()
-
-  if((PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR) AND
-     (PACKAGE_FIND_VERSION_MINOR STREQUAL CVF_VERSION_MINOR))
-    set(PACKAGE_VERSION_COMPATIBLE TRUE)
-  else()
-    set(PACKAGE_VERSION_COMPATIBLE FALSE)
-  endif()
-
-  if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
-      set(PACKAGE_VERSION_EXACT TRUE)
-  endif()
-endif()
-
-
-# if the installed project requested no architecture check, don't perform the check
-if("@CVF_ARCH_INDEPENDENT@")
-  return()
-endif()
-
-# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
-if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "@CMAKE_SIZEOF_VOID_P@" STREQUAL "")
-  return()
-endif()
-
-# check that the installed version has the same 32/64bit-ness as the one which is currently searching:
-if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "@CMAKE_SIZEOF_VOID_P@")
-  math(EXPR installedBits "@CMAKE_SIZEOF_VOID_P@ * 8")
-  set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)")
-  set(PACKAGE_VERSION_UNSUITABLE TRUE)
-endif()
diff --git a/cmake/InstallBasicPackageFiles.cmake b/cmake/InstallBasicPackageFiles.cmake
index fc03ea7..7368d02 100644
--- a/cmake/InstallBasicPackageFiles.cmake
+++ b/cmake/InstallBasicPackageFiles.cmake
@@ -233,10 +233,6 @@ include(GNUInstallDirs)
 include(CMakePackageConfigHelpers)
 include(CMakeParseArguments)
 
-# custom version of the   write_basic_package_version_file
-# available only from cmake 3.11
-include(WriteBasicConfigVersionFile)
-
 function(INSTALL_BASIC_PACKAGE_FILES _Name)
 
   # TODO check that _Name does not contain "-" characters
diff --git a/cmake/WriteBasicConfigVersionFile.cmake b/cmake/WriteBasicConfigVersionFile.cmake
deleted file mode 100644
index 9522ce1..0000000
--- a/cmake/WriteBasicConfigVersionFile.cmake
+++ /dev/null
@@ -1,51 +0,0 @@
-# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
-# file Copyright.txt or https://cmake.org/licensing for details.
-
-#[=======================================================================[.rst:
-WriteBasicConfigVersionFile
----------------------------
-
-.. deprecated:: 3.0
-
-  Use the identical command :command:`write_basic_package_version_file()`
-  from module :module:`CMakePackageConfigHelpers`.
-
-::
-
-  WRITE_BASIC_CONFIG_VERSION_FILE( filename
-    [VERSION major.minor.patch]
-    COMPATIBILITY (AnyNewerVersion|SameMajorVersion|SameMinorVersion|ExactVersion)
-    [ARCH_INDEPENDENT]
-    )
-
-
-#]=======================================================================]
-
-function(WRITE_BASIC_CONFIG_VERSION_FILE _filename)
-
-  set(options ARCH_INDEPENDENT )
-  set(oneValueArgs VERSION COMPATIBILITY )
-  set(multiValueArgs )
-
-  cmake_parse_arguments(CVF "${options}" "${oneValueArgs}" "${multiValueArgs}"  ${ARGN})
-
-  if(CVF_UNPARSED_ARGUMENTS)
-    message(FATAL_ERROR "Unknown keywords given to WRITE_BASIC_CONFIG_VERSION_FILE(): \"${CVF_UNPARSED_ARGUMENTS}\"")
-  endif()
-
-  set(versionTemplateFile "${CMAKE_CURRENT_SOURCE_DIR}/cmake/BasicConfigVersion-${CVF_COMPATIBILITY}.cmake.in")
-  if(NOT EXISTS "${versionTemplateFile}")
-    message(FATAL_ERROR "Bad COMPATIBILITY value used for WRITE_BASIC_CONFIG_VERSION_FILE(): \"${CVF_COMPATIBILITY}\"")
-  endif()
-
-  if("${CVF_VERSION}" STREQUAL "")
-    if ("${PROJECT_VERSION}" STREQUAL "")
-      message(FATAL_ERROR "No VERSION specified for WRITE_BASIC_CONFIG_VERSION_FILE()")
-    else()
-      set(CVF_VERSION "${PROJECT_VERSION}")
-    endif()
-  endif()
-
-  configure_file("${versionTemplateFile}" "${_filename}" @ONLY)
-
-endfunction()