ChibiOS build requires g++ version 10.2.1 or later, found 9.2.1

This error message indicates that you need to upgrade your g++ compiler to version 10.2.1 or later in order to build ChibiOS. Here are the steps to upgrade your g++ compiler:

1. Check if the required version is available in your package manager by running the following command:

   sudo apt-cache search g++-10

2. If the required version is available, install it by running the following command:

   sudo apt-get install g++-10

3. Set the new g++ version as the default by running the following commands:

   sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 10
   sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-10 10
   sudo update-alternatives --config gcc
   sudo update-alternatives --config g++

4. Verify that the new g++ version is set as the default by running the following command:

   g++ --version

The output should show the new g++ version that you just installed.

Once you have upgraded your g++ compiler to version 10.2.1 or later, you should be able to build ChibiOS successfully.