diff --git a/py-hpp-centroidal-dynamics/Makefile b/py-hpp-centroidal-dynamics/Makefile
index fa4f0665485b87c672a9b9e51bb9e0d12ff3d07d..1eed59f772e745fc71ebd8f12e393dcaf00c846e 100644
--- a/py-hpp-centroidal-dynamics/Makefile
+++ b/py-hpp-centroidal-dynamics/Makefile
@@ -10,6 +10,8 @@ CATEGORIES=		wip
 USE_BOOST_LIBS=		python
 PYTHON_NOTAG_CONFLICT=	yes
 
+CMAKE_ARGS+=		-DqpOASES_PREFIX=${PREFIX.qpoases}
+
 include ../../meta-pkgs/hpp/Makefile.common
 
 include ../../math/py-eigenpy/depend.mk
diff --git a/py-hpp-centroidal-dynamics/distinfo b/py-hpp-centroidal-dynamics/distinfo
index 9efe48184232da155fb1d0bef261183719053416..fa97d5245f83333b609c8e94c7b6fd521020d97d 100644
--- a/py-hpp-centroidal-dynamics/distinfo
+++ b/py-hpp-centroidal-dynamics/distinfo
@@ -1,3 +1,4 @@
-SHA1 (hpp-centroidal-dynamics-4.7.0.tar.gz) = cfabe8d139ea5f6aa554b309745cb1e223adf1e3
-RMD160 (hpp-centroidal-dynamics-4.7.0.tar.gz) = 2a48cf7561439b62c537675a39153448100cf9a8
-Size (hpp-centroidal-dynamics-4.7.0.tar.gz) = 839441 bytes
+SHA1 (hpp-centroidal-dynamics-4.8.0.tar.gz) = 954d29913f2081e2aaccb549096c3c0958c6809f
+RMD160 (hpp-centroidal-dynamics-4.8.0.tar.gz) = c2c8bfaa9f6357d2833256272fb73c85a5a8009e
+Size (hpp-centroidal-dynamics-4.8.0.tar.gz) = 866645 bytes
+SHA1 (patch-aa) = fdcf7a71bb3f0da8c9fb6ae79d2175057d084eca
diff --git a/py-hpp-centroidal-dynamics/patches/patch-aa b/py-hpp-centroidal-dynamics/patches/patch-aa
new file mode 100644
index 0000000000000000000000000000000000000000..d89a39c2317e39e227b7b39925e837a1a48b32d0
--- /dev/null
+++ b/py-hpp-centroidal-dynamics/patches/patch-aa
@@ -0,0 +1,17 @@
+--- cmake/find-external/qpOASES/FindqpOASES.cmake.orig	2019-11-25 14:33:39.000000000 +0100
++++ cmake/find-external/qpOASES/FindqpOASES.cmake	2019-11-26 18:13:48.117466759 +0100
+@@ -27,11 +27,11 @@
+ 
+ FIND_PATH(qpOASES_INCLUDE_DIR
+   NAMES qpOASES.hpp
+-  PATHS ${qpOASES_PREFIX}
++  PATHS ${qpOASES_PREFIX} ${qpOASES_PREFIX}/include
+   )
+ FIND_LIBRARY(qpOASES_LIBRARY
+-  NAMES libqpOASES.so
+-  PATHS ${qpOASES_PREFIX}
++  NAMES qpOASES
++  PATHS ${qpOASES_PREFIX} ${qpOASES_PREFIX}/lib
+   )
+ 
+ SET(qpOASES_LIBRARIES ${qpOASES_LIBRARY})