diff --git a/Tools/debug/README.md b/Tools/debug/README.md
index 117f69900d..1cf7510d32 100644
--- a/Tools/debug/README.md
+++ b/Tools/debug/README.md
@@ -22,7 +22,7 @@ your black magic probe, or install the provided udev rules file so
 that the probe will be loaded as /dev/ttyBmpGdb
 
 Now make sure you have the right version of arm-none-eabi-gdb
-installed. We recommend version 6-2017-q2-update, which is available
+installed. We recommend version 10-2020-q4-major, which is available
 here: https://firmware.ardupilot.org/Tools/STM32-tools/
 
 Now build ArduPilot with the --debug configure option. You may also
diff --git a/Tools/environment_install/install-prereqs-arch.sh b/Tools/environment_install/install-prereqs-arch.sh
index 43c3c7afe1..f82c1b7032 100755
--- a/Tools/environment_install/install-prereqs-arch.sh
+++ b/Tools/environment_install/install-prereqs-arch.sh
@@ -14,8 +14,8 @@ PYTHON3_PKGS="pyserial empy geocoder"
 
 # GNU Tools for ARM Embedded Processors
 # (see https://launchpad.net/gcc-arm-embedded/)
-ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
-ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
 ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
 
 # Ardupilot Tools
diff --git a/Tools/environment_install/install-prereqs-mac.sh b/Tools/environment_install/install-prereqs-mac.sh
index c900479803..922ccc553e 100755
--- a/Tools/environment_install/install-prereqs-mac.sh
+++ b/Tools/environment_install/install-prereqs-mac.sh
@@ -62,7 +62,7 @@ fi
 function install_arm_none_eabi_toolchain() {
     # GNU Tools for ARM Embedded Processors
     # (see https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads)
-    ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
+    ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
     ARM_TARBALL="$ARM_ROOT-mac.tar.bz2"
     ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
     if [ ! -d $OPT/$ARM_ROOT ]; then
diff --git a/Tools/environment_install/install-prereqs-ubuntu.sh b/Tools/environment_install/install-prereqs-ubuntu.sh
index 34747bb26e..68d44856a7 100755
--- a/Tools/environment_install/install-prereqs-ubuntu.sh
+++ b/Tools/environment_install/install-prereqs-ubuntu.sh
@@ -142,8 +142,8 @@ fi
 function install_arm_none_eabi_toolchain() {
   # GNU Tools for ARM Embedded Processors
   # (see https://launchpad.net/gcc-arm-embedded/)
-  ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
-  ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+  ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+  ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
   ARM_TARBALL_URL="https://firmware.ardupilot.org/Tools/STM32-tools/$ARM_TARBALL"
   if [ ! -d $OPT/$ARM_ROOT ]; then
     (
diff --git a/Tools/scripts/configure-ci.sh b/Tools/scripts/configure-ci.sh
index e5ef01c875..946423471f 100755
--- a/Tools/scripts/configure-ci.sh
+++ b/Tools/scripts/configure-ci.sh
@@ -6,8 +6,8 @@ set -ex
 # Disable ccache for the configure phase, it's not worth it
 export CCACHE_DISABLE="true"
 
-ARM_ROOT="gcc-arm-none-eabi-6-2017-q2-update"
-ARM_TARBALL="$ARM_ROOT-linux.tar.bz2"
+ARM_ROOT="gcc-arm-none-eabi-10-2020-q4-major"
+ARM_TARBALL="$ARM_ROOT-x86_64-linux.tar.bz2"
 
 RPI_ROOT="master"
 RPI_TARBALL="$RPI_ROOT.tar.gz"
@@ -83,7 +83,7 @@ ln -s ~/opt/$CCACHE_ROOT/ccache ~/ccache/clang
 exportline="export PATH=$HOME/ccache"
 exportline="${exportline}:$HOME/bin"
 exportline="${exportline}:$HOME/.local/bin"
-exportline="${exportline}:$HOME/opt/gcc-arm-none-eabi-6-2017-q2-update/bin"
+exportline="${exportline}:$HOME/opt/gcc-arm-none-eabi-10-2020-q4-major/bin"
 exportline="${exportline}:$HOME/opt/tools-master/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64/bin"
 exportline="${exportline}:$HOME/opt/arm-linux-musleabihf-cross/bin"
 exportline="${exportline}:$HOME/opt/$CCACHE_ROOT"