diff --git a/cmake/nuttx_add_application.cmake b/cmake/nuttx_add_application.cmake
index 3c4d96d75b2..fc12f28518b 100644
--- a/cmake/nuttx_add_application.cmake
+++ b/cmake/nuttx_add_application.cmake
@@ -207,10 +207,13 @@ function(nuttx_add_application)
     # interface include and libraries
     foreach(dep ${DEPENDS})
       nuttx_add_dependencies(TARGET ${TARGET} DEPENDS ${dep})
-      get_target_property(dep_type ${dep} TYPE)
-      if(${dep_type} STREQUAL "STATIC_LIBRARY")
-        target_link_libraries(${TARGET} PRIVATE ${dep})
+      if(TARGET ${dep})
+        get_target_property(dep_type ${dep} TYPE)
+        if(${dep_type} STREQUAL "STATIC_LIBRARY")
+          target_link_libraries(${TARGET} PRIVATE ${dep})
+        endif()
       endif()
+
     endforeach()
   endif()
 endfunction()
diff --git a/cmake/nuttx_add_library.cmake b/cmake/nuttx_add_library.cmake
index 9a23388aacb..8114ba3ca8b 100644
--- a/cmake/nuttx_add_library.cmake
+++ b/cmake/nuttx_add_library.cmake
@@ -36,8 +36,8 @@ function(nuttx_add_library_internal target)
   # add main include directories
   target_include_directories(
     ${target} SYSTEM
-    PUBLIC ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include
-           ${CMAKE_BINARY_DIR}/include_arch)
+    PRIVATE ${CMAKE_SOURCE_DIR}/include ${CMAKE_BINARY_DIR}/include
+            ${CMAKE_BINARY_DIR}/include_arch)
 
   # Set global compile options & definitions We use the "nuttx" target to hold
   # these properties so that libraries added after this property is set can read