diff --git a/pkgs/development/python-modules/osqp/default.nix b/pkgs/development/python-modules/osqp/default.nix
index 88189493a62f..e2eb0139f123 100644
--- a/pkgs/development/python-modules/osqp/default.nix
+++ b/pkgs/development/python-modules/osqp/default.nix
@@ -4,6 +4,7 @@
 , cmake
 , future
 , numpy
+, qdldl
 , scipy
 # check inputs
 , pytestCheckHook
@@ -11,11 +12,11 @@
 
 buildPythonPackage rec {
   pname = "osqp";
-  version = "0.6.1";
+  version = "0.6.2";
 
   src = fetchPypi {
     inherit pname version;
-    sha256 = "130frig5bznfacqp9jwbshmbqd2xw3ixdspsbkrwsvkdaab7kca7";
+    sha256 = "262162039f6ad6c9ffee658541b18cfae8240b65edbde71d9b9e3af42fbfe4b3";
   };
 
   nativeBuildInputs = [ cmake ];
@@ -24,15 +25,22 @@ buildPythonPackage rec {
   propagatedBuildInputs = [
     future
     numpy
+    qdldl
     scipy
   ];
 
   pythonImportsCheck = [ "osqp" ];
   checkInputs = [ pytestCheckHook ];
-  dontUseSetuptoolsCheck = true;  # don't run checks twice
   disabledTests = [
     "mkl_"
-    "update_matrices_tests" # broken w/ scipy >= 1.5.0. Remove next release. See https://github.com/oxfordcontrol/osqp-python/issues/44
+  ];
+    pytestFlagsArray = [
+    # These cannot collect b/c of circular dependency on cvxpy: https://github.com/oxfordcontrol/osqp-python/issues/50
+    "--ignore=module/tests/basic_test.py"
+    "--ignore=module/tests/feasibility_test.py"
+    "--ignore=module/tests/polishing_test.py"
+    "--ignore=module/tests/unconstrained_test.py"
+    "--ignore=module/tests/update_matrices_test.py"
   ];
 
   meta = with lib; {
diff --git a/pkgs/development/python-modules/qdldl/default.nix b/pkgs/development/python-modules/qdldl/default.nix
new file mode 100644
index 000000000000..d8e043d546da
--- /dev/null
+++ b/pkgs/development/python-modules/qdldl/default.nix
@@ -0,0 +1,40 @@
+{ lib
+, buildPythonPackage
+, fetchPypi
+, cmake
+, pybind11
+, numpy
+, scipy
+, pytestCheckHook
+}:
+
+buildPythonPackage rec {
+  pname = "qdldl";
+  version = "0.1.5.post0";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "c392c7427651d8b226423c7aba4a0f2338a1f38a4bbdabac6bc4afd8bc934f06";
+  };
+
+  dontUseCmakeConfigure = true;
+  nativeBuildInputs = [ cmake ];
+
+  buildInputs = [ pybind11 ];
+
+  propagatedBuildInputs = [
+    numpy
+    scipy
+  ];
+
+  pythonImportsCheck = [ "qdldl" ];
+  checkInputs = [ pytestCheckHook ];
+
+  meta = with lib; {
+    description = "A free LDL factorization routine";
+    homepage = "https://github.com/oxfordcontrol/qdldl";
+    downloadPage = "https://github.com/oxfordcontrol/qdldl-python";
+    license = licenses.asl20;
+    maintainers = with maintainers; [ drewrisinger ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index fccad132d875..da25ab723793 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -6396,6 +6396,8 @@ in {
 
   qdarkstyle = callPackage ../development/python-modules/qdarkstyle { };
 
+  qdldl = callPackage ../development/python-modules/qdldl { };
+
   qds_sdk = callPackage ../development/python-modules/qds_sdk { };
 
   qimage2ndarray = callPackage ../development/python-modules/qimage2ndarray { };