diff --git a/pkgs/applications/science/robotics/yarp/default.nix b/pkgs/applications/science/robotics/yarp/default.nix
index 76ba871c4a1..5e4bda1aaa0 100644
--- a/pkgs/applications/science/robotics/yarp/default.nix
+++ b/pkgs/applications/science/robotics/yarp/default.nix
@@ -3,18 +3,29 @@
 
 stdenv.mkDerivation rec {
   name = "yarp-${version}";
-  version = "2.3.65";
+  version = "2.3.66";
   src = fetchFromGitHub {
     owner = "robotology";
     repo = "yarp";
-    rev = "v${version}";
-    sha256 = "003n0z1qrd7l8maa98aa49gsfsyy7w8gb2pprlgj92r0drk8zm02";
+    rev = "v${version}.1";
+    sha256 = "0hznysxhk6pd92fymcrnbbl8ah7rcwhcvb6n92v09zjv6yl5xpiq";
   };
 
   buildInputs = [ cmake ace ];
 
   enableParallelBuilding = true;
 
+  cmakeFlags = [
+    "-DYARP_COMPILE_UNMAINTAINED:BOOL=ON"
+    "-DCREATE_YARPC:BOOL=ON"
+    "-DCREATE_YARPCXX:BOOL=ON"
+  ];
+
+  # since we cant expand $out in cmakeFlags
+  preConfigure = ''cmakeFlags="$cmakeFlags -DCMAKE_INSTALL_LIBDIR=$out/lib"'';
+
+  postInstall = "mv ./$out/lib/*.so $out/lib/";
+
   meta = {
     description = "Yet Another Robot Platform";
     homepage = http://yarp.it;