Error Compiling razor_imu_9dof Firmware

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Hi, I am new to ROS and can someone help me resolving the following issue?

Firstly, I am unable to flash the updated firmware from the /src folder through the Arduino IDE into the imu. I get the following error whenI try to flash the firmware

Error- ./arduino
Picked up JAVA_TOOL_OPTIONS: 
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Razor_AHRS.ino: In function 'char readChar()':
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Razor_AHRS.ino:626:10: note: in expansion of macro 'LOG_PORT'
   while (LOG_PORT.available() < 1) { } // Block
          ^
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Razor_AHRS.ino:627:10: note: in expansion of macro 'LOG_PORT'
   return LOG_PORT.read();
          ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Razor_AHRS.ino: In function 'void setup()':
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Razor_AHRS.ino:633:3: note: in expansion of macro 'LOG_PORT'
   LOG_PORT.begin(OUTPUT__BAUD_RATE);
   ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Razor_AHRS.ino: In function 'void loop()':
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Razor_AHRS.ino:677:7: note: in expansion of macro 'LOG_PORT'
   if (LOG_PORT.available() >= 1)
       ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino: In function 'void output_angles()':
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino:12:5: note: in expansion of macro 'LOG_PORT'
     LOG_PORT.write((byte*) ypr, 12);  // No new-line
     ^
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino:16:5: note: in expansion of macro 'LOG_PORT'
     LOG_PORT.print("#YPR=");
     ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino: In function 'void output_calibration(int)':
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino:28:5: note: in expansion of macro 'LOG_PORT'
     LOG_PORT.print("accel x,y,z (min/max) = ");
     ^
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino:42:5: note: in expansion of macro 'LOG_PORT'
     LOG_PORT.print("magn x,y,z (min/max) = ");
     ^
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino:61:5: note: in expansion of macro 'LOG_PORT'
     LOG_PORT.print("gyro x,y,z (current/average) = ");
     ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino: In function 'void output_sensors_text(char)':
Razor_AHRS:223:18: error: 'SERIAL_PORT_USBVIRTUAL' was not declared in this scope
 #define LOG_PORT SERIAL_PORT_USBVIRTUAL 
                  ^
/home/nvidia/racecar-ws/src/razor_imu_9dof/src/Razor_AHRS/Output.ino:74:3: note: in expansion of macro 'LOG_PORT'
   LOG_PORT.print("#A-"); LOG_PORT.print(raw_or_calibrated); LOG_PORT.print('=');
   ^
/home/nvidia ...