diff --git a/Tools/scripts/build_binaries.py b/Tools/scripts/build_binaries.py
index 20a68d4a69..3a30c5fe63 100755
--- a/Tools/scripts/build_binaries.py
+++ b/Tools/scripts/build_binaries.py
@@ -32,6 +32,28 @@ else:
     running_python3 = True
 
 
+def is_chibios_build(board):
+    '''see if a board is using HAL_ChibiOS'''
+    hwdef_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "..", "libraries", "AP_HAL_ChibiOS", "hwdef")
+    return os.path.exists(os.path.join(hwdef_dir, board, "hwdef.dat"))
+
+
+def get_required_compiler(tag, board):
+    '''return required compiler for a build tag.
+       return format is the version string that waf configure will detect.
+       You should setup a link from this name in $HOME/arm-gcc directory pointing at the
+       appropriate compiler
+    '''
+    if not is_chibios_build(board):
+        # only override compiler for ChibiOS builds
+        return None
+    if tag == 'latest':
+        # use 10.2.1 compiler for master builds
+        return "g++-10.2.1"
+    # for all other builds we use the default compiler in $PATH
+    return None
+
+
 class build_binaries(object):
     def __init__(self, tags):
         self.tags = tags
@@ -62,21 +84,34 @@ class build_binaries(object):
             return ["--static"]
         return []
 
-    def run_waf(self, args):
+    def run_waf(self, args, compiler=None):
         if os.path.exists("waf"):
             waf = "./waf"
         else:
             waf = os.path.join(".", "modules", "waf", "waf-light")
         cmd_list = [waf]
         cmd_list.extend(args)
-        self.run_program("BB-WAF", cmd_list)
+        env = None
+        if compiler is not None:
+            # default to $HOME/arm-gcc, but allow for any path with AP_GCC_HOME environment variable
+            gcc_home = os.environ.get("AP_GCC_HOME", os.path.join(os.environ["HOME"], "arm-gcc"))
+            gcc_path = os.path.join(gcc_home, compiler, "bin")
+            if os.path.exists(gcc_path):
+                # setup PATH to point at the right compiler, and setup to use ccache
+                env = os.environ.copy()
+                env["PATH"] = gcc_path + ":" + env["PATH"]
+                env["CC"] = "ccache arm-none-eabi-gcc"
+                env["CXX"] = "ccache arm-none-eabi-g++"
+            else:
+                raise Exception("BB-WAF: Missing compiler %s" % gcc_path)
+        self.run_program("BB-WAF", cmd_list, env=env)
 
-    def run_program(self, prefix, cmd_list, show_output=True):
+    def run_program(self, prefix, cmd_list, show_output=True, env=None):
         if show_output:
             self.progress("Running (%s)" % " ".join(cmd_list))
         p = subprocess.Popen(cmd_list, bufsize=1, stdin=None,
                              stdout=subprocess.PIPE, close_fds=True,
-                             stderr=subprocess.STDOUT)
+                             stderr=subprocess.STDOUT, env=env)
         output = ""
         while True:
             x = p.stdout.readline()
@@ -164,7 +199,7 @@ is bob we will attempt to checkout bob-AVR'''
         return False
 
     def skip_board_waf(self, board):
-        '''check if we should skip this build because we don't support the
+        '''check if we should skip this build because we do not support the
         board in this release
         '''
 
@@ -409,15 +444,19 @@ is bob we will attempt to checkout bob-AVR'''
                                 "--board", board,
                                 "--out", self.buildroot,
                                 "clean"]
+                    gccstring = get_required_compiler(tag, board)
+                    if gccstring is not None:
+                        waf_opts += ["--assert-cc-version", gccstring]
+
                     waf_opts.extend(self.board_options(board))
-                    self.run_waf(waf_opts)
+                    self.run_waf(waf_opts, compiler=gccstring)
                 except subprocess.CalledProcessError:
                     self.progress("waf configure failed")
                     continue
                 try:
                     target = os.path.join("bin",
                                           "".join([binaryname, framesuffix]))
-                    self.run_waf(["build", "--targets", target])
+                    self.run_waf(["build", "--targets", target], compiler=gccstring)
                 except subprocess.CalledProcessError:
                     msg = ("Failed build of %s %s%s %s" %
                            (vehicle, board, framesuffix, tag))