diff --git a/trajopt_sco/include/trajopt_sco/osqp_interface.hpp b/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
index 49fb9902..739b3a16 100644
--- a/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
+++ b/trajopt_sco/include/trajopt_sco/osqp_interface.hpp
@@ -21,6 +21,11 @@ struct OSQPModelConfig : public ModelConfig
   OSQPSettings settings{};
 };
 
+struct csc_delete
+{
+    void operator()(csc* matrix);
+};
+
 /**
  * OSQPModel uses the BSD solver OSQP to solve a linearly constrained QP.
  * OSQP solves a problem in the form:
@@ -60,8 +65,8 @@ class OSQPModel : public Model
   ConstraintTypeVector cnt_types_; /**< constraints types */
   DblVec solution_;                /**< optimizizer's solution for current model */
 
-  std::unique_ptr<csc> P_;               /**< Takes ownership of OSQPData.P to avoid having to deallocate manually */
-  std::unique_ptr<csc> A_;               /**< Takes ownership of OSQPData.A to avoid having to deallocate manually */
+  std::unique_ptr<csc, csc_delete> P_;   /**< Takes ownership of OSQPData.P to avoid having to deallocate manually */
+  std::unique_ptr<csc, csc_delete> A_;   /**< Takes ownership of OSQPData.A to avoid having to deallocate manually */
   std::vector<c_int> P_row_indices_;     /**< row indices for P, CSC format */
   std::vector<c_int> P_column_pointers_; /**< column pointers for P, CSC format */
   DblVec P_csc_data_;                    /**< P values in CSC format */
@@ -104,4 +109,6 @@ class OSQPModel : public Model
   void writeToFile(const std::string& fname) const override;
   VarVector getVars() const override;
 };
+
+
 }  // namespace sco
diff --git a/trajopt_sco/src/osqp_interface.cpp b/trajopt_sco/src/osqp_interface.cpp
index cdb7e6f3..641284e2 100644
--- a/trajopt_sco/src/osqp_interface.cpp
+++ b/trajopt_sco/src/osqp_interface.cpp
@@ -1,3 +1,4 @@
+#include <cs.h>
 #include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <constants.h>
@@ -385,4 +386,7 @@ void OSQPModel::writeToFile(const std::string& fname) const
   }
   outStream << "End";
 }
+
+void csc_delete::operator()(csc* c) { free(c); }
+
 }  // namespace sco