diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index f4941da08b9d3b15acac49d89e1ef63e32e4e173..2ec630b7c533eff1c9cd9207e6829690bdb211af 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -12,6 +12,7 @@ SET(${PROJECT_NAME}_SOURCES
   core/utils/callbacks.cpp
   core/optctrl/shooting.cpp
   core/solvers/ddp.cpp
+  core/solvers/fddp.cpp
   core/states/euclidean.cpp
   core/actions/unicycle.cpp
   core/actions/lqr.cpp