diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index c2cd7b449..43ae36929 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -34,19 +34,19 @@ if(NOT FIRST_PASS_DONE)
     set(CMAKE_MODULE_LINKER_FLAGS_PROFILING "${CMAKE_MODULE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
     mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING CMAKE_MODULE_LINKER_FLAGS_PROFILING)
   else()
-    set(CMAKE_C_FLAGS_DEBUG            "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
-    set(CMAKE_CXX_FLAGS_DEBUG          "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
-    set(CMAKE_C_FLAGS_RELWITHDEBINFO   "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
-    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
-    set(CMAKE_C_FLAGS_RELEASE          "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
-    set(CMAKE_CXX_FLAGS_RELEASE        "-O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+    set(CMAKE_C_FLAGS_DEBUG            "${CMAKE_C_FLAGS_DEBUG} -std=c11 -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
+    set(CMAKE_CXX_FLAGS_DEBUG          "${CMAKE_CXX_FLAGS_DEBUG} -std=c++11 -fno-inline -Wall -DEIGEN_INITIALIZE_MATRICES_BY_NAN" CACHE STRING "Flags used by the compiler during debug builds." FORCE)
+    set(CMAKE_C_FLAGS_RELWITHDEBINFO   "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during relwithdebinfo builds." FORCE)
+    set(CMAKE_C_FLAGS_RELEASE          "-std=c11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
+    set(CMAKE_CXX_FLAGS_RELEASE        "-std=c++11 -O3 -Wall -DNDEBUG -Wall" CACHE STRING "Flags used by the compiler during release builds." FORCE)
     set(CMAKE_C_FLAGS_TIMING           "${CMAKE_C_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
     set(CMAKE_CXX_FLAGS_TIMING         "${CMAKE_CXX_FLAGS_RELEASE} -DENABLE_TIMING" CACHE STRING "Flags used by the compiler during timing builds." FORCE)
     set(CMAKE_EXE_LINKER_FLAGS_TIMING  "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
     set(CMAKE_SHARED_LINKER_FLAGS_TIMING  "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during timing builds." FORCE)
     mark_as_advanced(CMAKE_C_FLAGS_TIMING CMAKE_CXX_FLAGS_TIMING CMAKE_EXE_LINKER_FLAGS_TIMING CMAKE_SHARED_LINKER_FLAGS_TIMING)
-    set(CMAKE_C_FLAGS_PROFILING        "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
-    set(CMAKE_CXX_FLAGS_PROFILING      "-g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+    set(CMAKE_C_FLAGS_PROFILING        "-std=c11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
+    set(CMAKE_CXX_FLAGS_PROFILING      "-std=c++11 -g -O3 -Wall -DNDEBUG" CACHE STRING "Flags used by the compiler during profiling builds." FORCE)
     set(CMAKE_EXE_LINKER_FLAGS_PROFILING "${CMAKE_EXE_LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
 	set(CMAKE_SHARED_LINKER_FLAGS_PROFILING "${CMAKE__LINKER_FLAGS_RELEASE}" CACHE STRING "Linker flags during profiling builds." FORCE)
     mark_as_advanced(CMAKE_C_FLAGS_PROFILING CMAKE_CXX_FLAGS_PROFILING CMAKE_EXE_LINKER_FLAGS_PROFILING CMAKE_SHARED_LINKER_FLAGS_PROFILING)