diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9ce7386d19..d07fcba5e4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,7 +11,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Use bp::ssize_t for recent version of Windows compilers ([#2102](https://github.com/stack-of-tasks/pinocchio/pull/2102))
 - Fix missing include for Boost >= 1.83 ([#2103](https://github.com/stack-of-tasks/pinocchio/pull/2103))
 - Remove f-strings to fix install with python 2 ([#2110](https://github.com/stack-of-tasks/pinocchio/pull/2110))
-- CMake: export CppAd finder & fetch submodule if not available ([#2112](https://github.com/stack-of-tasks/pinocchio/pull/2112))
+- CMake: stop exporting CppAd/cppadcodegen & fetch submodule if not available ([#2112](https://github.com/stack-of-tasks/pinocchio/pull/2112))
 
 ## [2.6.21] - 2023-11-27
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 29d8104aa0..0f55803364 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -135,10 +135,10 @@ ENDIF(BUILD_WITH_URDF_SUPPORT)
 IF(BUILD_WITH_AUTODIFF_SUPPORT)
   # Check first CppADCodeGen
   IF(BUILD_WITH_CODEGEN_SUPPORT)
-    ADD_PROJECT_DEPENDENCY(cppadcg 2.4.1 REQUIRED PKG_CONFIG_REQUIRES "cppadcg >= 2.4.1") # CppADCodeGen 2.4.1 is the first version to check the minimal version of CppAD
+    FIND_PACKAGE(cppadcg 2.4.1 REQUIRED)
   ENDIF(BUILD_WITH_CODEGEN_SUPPORT)
 
-  ADD_PROJECT_DEPENDENCY(cppad 20180000.0 REQUIRED PKG_CONFIG_REQUIRES "cppad >= 20180000.0" FIND_EXTERNAL cppad)
+  FIND_PACKAGE(cppad 20180000.0 REQUIRED)
 ENDIF(BUILD_WITH_AUTODIFF_SUPPORT)
 
 IF(BUILD_WITH_CASADI_SUPPORT)