diff --git a/upstream_utils/eigen-maybe-uninitialized.patch b/upstream_utils/eigen-maybe-uninitialized.patch
new file mode 100644
index 0000000..27144de
--- /dev/null
+++ b/upstream_utils/eigen-maybe-uninitialized.patch
@@ -0,0 +1,15 @@
+diff --git a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h b/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h
+index 74f74cc42..5fe86fa0d 100644
+--- a/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h
++++ b/wpimath/src/main/native/eigeninclude/Eigen/src/Core/util/DisableStupidWarnings.h
+@@ -61,6 +61,10 @@
+     // See: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=89325
+     #pragma GCC diagnostic ignored "-Wattributes"
+   #endif
++  #if __GNUC__==11
++    // This warning is a false positive
++    #pragma GCC diagnostic ignored "-Wmaybe-uninitialized"
++  #endif
+ #endif
+ 
+ #if defined __NVCC__