diff --git a/CMakeLists.txt b/CMakeLists.txt
index 043eba4..f176ffa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,7 +17,7 @@
 # with eiquadprog.  If not, see <https://www.gnu.org/licenses/>.
 #
 
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.22)
 
 # Project properties
 set(PROJECT_ORG stack-of-tasks)
@@ -47,14 +47,6 @@ else()
       TARGET jrl-cmakemodules::jrl-cmakemodules
       PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
     message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
-  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
-    message(
-      FATAL_ERROR
-        "\nCan't find jrl-cmakemodules. Please either:\n"
-        "  - use git submodule: 'git submodule update --init'\n"
-        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
-        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
-    )
   else()
     message(STATUS "JRL cmakemodules not found. Let's fetch it.")
     include(FetchContent)
diff --git a/cmake b/cmake
index b3c2af1..34ded94 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit b3c2af1b68686dc9d5f459fb617647e37a15a76d
+Subproject commit 34ded94e5d33ce56746abb4898b4ccc6dc69bfe8