diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5e676d47fa..012bcb7ccd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,10 +11,13 @@ if ("${CMAKE_HOST_SYSTEM_NAME}" STREQUAL "Windows")
     set(CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION 10.0.18362.0 CACHE STRING INTERNAL FORCE)
 endif()
 
-cmake_minimum_required(VERSION 3.3.0)
+cmake_minimum_required(VERSION 3.11)
 project(allwpilib)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules")
 
+# Make timestamps of extracted files from FetchContent the time of extraction
+cmake_policy(SET CMP0135 NEW)
+
 message(STATUS "Platform version: ${CMAKE_VS_WINDOWS_TARGET_PLATFORM_VERSION}")
 
 set(WPILIB_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
diff --git a/README-CMAKE.md b/README-CMAKE.md
index 6a10d5b96c..9d92a8a127 100644
--- a/README-CMAKE.md
+++ b/README-CMAKE.md
@@ -93,7 +93,7 @@ Using the libraries from C++ is the easiest way to use the built libraries.
 To do so, create a new folder to contain your project. Add the following code below to a `CMakeLists.txt` file in that directory.
 
 ```
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.11)
 project(vision_app) # Project Name Here
 
 find_package(wpilib REQUIRED)
diff --git a/cmake/toolchains/gnu.toolchain.cmake b/cmake/toolchains/gnu.toolchain.cmake
index b21dad213d..dbddbd0dc4 100644
--- a/cmake/toolchains/gnu.toolchain.cmake
+++ b/cmake/toolchains/gnu.toolchain.cmake
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.3.0)
+cmake_minimum_required(VERSION 3.11)
 
 # load settings in case of "try compile"
 set(TOOLCHAIN_CONFIG_FILE "${WPILIB_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/toolchain.config.cmake")
diff --git a/cscore/CMakeLists.txt b/cscore/CMakeLists.txt
index af0d803429..81cdd4ec50 100644
--- a/cscore/CMakeLists.txt
+++ b/cscore/CMakeLists.txt
@@ -102,12 +102,7 @@ if (WITH_JAVA)
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
     set(CMAKE_JNI_TARGET true)
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-        add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore)
-    else()
-        add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore GENERATE_NATIVE_HEADERS cscore_jni_headers)
-    endif()
+    add_jar(cscore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar ${OPENCV_JAR_FILE} OUTPUT_NAME cscore GENERATE_NATIVE_HEADERS cscore_jni_headers)
 
     get_property(CSCORE_JAR_FILE TARGET cscore_jar PROPERTY JAR_FILE)
     install(FILES ${CSCORE_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -131,12 +126,7 @@ if (WITH_JAVA)
 
     set_property(TARGET cscorejni PROPERTY FOLDER "libraries")
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        target_include_directories(cscorejni PRIVATE ${JNI_INCLUDE_DIRS})
-        target_include_directories(cscorejni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    else()
-        target_link_libraries(cscorejni PRIVATE cscore_jni_headers)
-    endif()
+    target_link_libraries(cscorejni PRIVATE cscore_jni_headers)
     add_dependencies(cscorejni cscore_jar)
 
     if (MSVC)
diff --git a/hal/CMakeLists.txt b/hal/CMakeLists.txt
index fae74aa5f2..45c55675bf 100644
--- a/hal/CMakeLists.txt
+++ b/hal/CMakeLists.txt
@@ -85,12 +85,7 @@ if (WITH_JAVA)
         src/main/java/*.java)
     set(CMAKE_JNI_TARGET true)
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-        add_jar(hal_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal)
-    else()
-        add_jar(hal_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal GENERATE_NATIVE_HEADERS hal_jni_headers)
-    endif()
+    add_jar(hal_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpiHal GENERATE_NATIVE_HEADERS hal_jni_headers)
 
     get_property(HAL_JAR_FILE TARGET hal_jar PROPERTY JAR_FILE)
     install(FILES ${HAL_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -110,12 +105,7 @@ if (WITH_JAVA)
 
     set_property(TARGET haljni PROPERTY FOLDER "libraries")
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        target_include_directories(haljni PRIVATE ${JNI_INCLUDE_DIRS})
-        target_include_directories(haljni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    else()
-        target_link_libraries(haljni PRIVATE hal_jni_headers)
-    endif()
+    target_link_libraries(haljni PRIVATE hal_jni_headers)
     add_dependencies(haljni hal_jar)
 
     if (MSVC)
diff --git a/ntcore/CMakeLists.txt b/ntcore/CMakeLists.txt
index cd4df28c61..cd5b3fb7d5 100644
--- a/ntcore/CMakeLists.txt
+++ b/ntcore/CMakeLists.txt
@@ -61,12 +61,7 @@ if (WITH_JAVA)
     file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java ${WPILIB_BINARY_DIR}/ntcore/generated/*.java)
     set(CMAKE_JNI_TARGET true)
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-        add_jar(ntcore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME ntcore)
-    else()
-        add_jar(ntcore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME ntcore GENERATE_NATIVE_HEADERS ntcore_jni_headers)
-    endif()
+    add_jar(ntcore_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME ntcore GENERATE_NATIVE_HEADERS ntcore_jni_headers)
 
     get_property(NTCORE_JAR_FILE TARGET ntcore_jar PROPERTY JAR_FILE)
     install(FILES ${NTCORE_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -83,12 +78,7 @@ if (WITH_JAVA)
         install(TARGETS ntcorejni RUNTIME DESTINATION "${jni_lib_dest}" COMPONENT Runtime)
     endif()
 
-    if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-        target_include_directories(ntcorejni PRIVATE ${JNI_INCLUDE_DIRS})
-        target_include_directories(ntcorejni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    else()
-        target_link_libraries(ntcorejni PRIVATE ntcore_jni_headers)
-    endif()
+    target_link_libraries(ntcorejni PRIVATE ntcore_jni_headers)
     add_dependencies(ntcorejni ntcore_jar)
 
     install(TARGETS ntcorejni EXPORT ntcorejni DESTINATION "${main_lib_dest}")
diff --git a/wpimath/CMakeLists.txt b/wpimath/CMakeLists.txt
index 9648af2b9f..01fd5d0f8e 100644
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -55,12 +55,7 @@ if (WITH_JAVA)
 
   file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java ${WPILIB_BINARY_DIR}/wpimath/generated/*.java)
 
-  if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-    set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    add_jar(wpimath_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} wpiutil_jar OUTPUT_NAME wpimath)
-  else()
-    add_jar(wpimath_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} wpiutil_jar OUTPUT_NAME wpimath GENERATE_NATIVE_HEADERS wpimath_jni_headers)
-  endif()
+  add_jar(wpimath_jar ${JAVA_SOURCES} INCLUDE_JARS ${EJML_JARS} wpiutil_jar OUTPUT_NAME wpimath GENERATE_NATIVE_HEADERS wpimath_jni_headers)
 
   get_property(WPIMATH_JAR_FILE TARGET wpimath_jar PROPERTY JAR_FILE)
   install(FILES ${WPIMATH_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -73,12 +68,7 @@ if (WITH_JAVA)
 
   set_property(TARGET wpimathjni PROPERTY FOLDER "libraries")
 
-  if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-    target_include_directories(wpimathjni PRIVATE ${JNI_INCLUDE_DIRS})
-    target_include_directories(wpimathjni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-  else()
-    target_link_libraries(wpimathjni PRIVATE wpimath_jni_headers)
-  endif()
+  target_link_libraries(wpimathjni PRIVATE wpimath_jni_headers)
   add_dependencies(wpimathjni wpimath_jar)
 
   if (MSVC)
diff --git a/wpinet/CMakeLists.txt b/wpinet/CMakeLists.txt
index a11ca98481..6d92a56402 100644
--- a/wpinet/CMakeLists.txt
+++ b/wpinet/CMakeLists.txt
@@ -18,12 +18,7 @@ if (WITH_JAVA)
 
   file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
 
-  if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-    set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    add_jar(wpinet_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpinet)
-  else()
-    add_jar(wpinet_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpinet GENERATE_NATIVE_HEADERS wpinet_jni_headers)
-  endif()
+  add_jar(wpinet_jar ${JAVA_SOURCES} INCLUDE_JARS wpiutil_jar OUTPUT_NAME wpinet GENERATE_NATIVE_HEADERS wpinet_jni_headers)
 
   get_property(WPINET_JAR_FILE TARGET wpinet_jar PROPERTY JAR_FILE)
   install(FILES ${WPINET_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -36,12 +31,7 @@ if (WITH_JAVA)
 
   set_property(TARGET wpinetjni PROPERTY FOLDER "libraries")
 
-  if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-    target_include_directories(wpinetjni PRIVATE ${JNI_INCLUDE_DIRS})
-    target_include_directories(wpinetjni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-  else()
-    target_link_libraries(wpinetjni PRIVATE wpinet_jni_headers)
-  endif()
+  target_link_libraries(wpinetjni PRIVATE wpinet_jni_headers)
   add_dependencies(wpinetjni wpinet_jar)
 
   if (MSVC)
diff --git a/wpiutil/CMakeLists.txt b/wpiutil/CMakeLists.txt
index 8deec27abc..5db2b4c658 100644
--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -39,12 +39,7 @@ if (WITH_JAVA)
 
   file(GLOB_RECURSE JAVA_SOURCES src/main/java/*.java)
 
-  if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-    set(CMAKE_JAVA_COMPILE_FLAGS "-h" "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-    add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${JACKSON_JARS} OUTPUT_NAME wpiutil)
-  else()
-    add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${JACKSON_JARS} OUTPUT_NAME wpiutil GENERATE_NATIVE_HEADERS wpiutil_jni_headers)
-  endif()
+  add_jar(wpiutil_jar ${JAVA_SOURCES} INCLUDE_JARS ${JACKSON_JARS} OUTPUT_NAME wpiutil GENERATE_NATIVE_HEADERS wpiutil_jni_headers)
 
   get_property(WPIUTIL_JAR_FILE TARGET wpiutil_jar PROPERTY JAR_FILE)
   install(FILES ${WPIUTIL_JAR_FILE} DESTINATION "${java_lib_dest}")
@@ -57,12 +52,7 @@ if (WITH_JAVA)
 
   set_property(TARGET wpiutiljni PROPERTY FOLDER "libraries")
 
-  if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
-    target_include_directories(wpiutiljni PRIVATE ${JNI_INCLUDE_DIRS})
-    target_include_directories(wpiutiljni PRIVATE "${CMAKE_CURRENT_BINARY_DIR}/jniheaders")
-  else()
-    target_link_libraries(wpiutiljni PRIVATE wpiutil_jni_headers)
-  endif()
+  target_link_libraries(wpiutiljni PRIVATE wpiutil_jni_headers)
   add_dependencies(wpiutiljni wpiutil_jar)
 
   if (MSVC)