Mbedtls: Upgrade mbedtls version to 2.24

Except for Infra-Health job, it will be done later.

Change-Id: Ifbd9b79451978ab490f52b25f71182c6f033d646
Signed-off-by: Summer Qin <summer.qin@arm.com>
diff --git a/tf-m-build-docs-nightly.yaml b/tf-m-build-docs-nightly.yaml
index bea60b8..4b2fceb 100644
--- a/tf-m-build-docs-nightly.yaml
+++ b/tf-m-build-docs-nightly.yaml
@@ -66,7 +66,7 @@
           default: 'https://git.trustedfirmware.org/mirror/mcuboot.git'
       - string:
           name: 'MBEDTLS_VERSION'
-          default: 'mbedtls-2.23.0'
+          default: 'mbedtls-2.24.0'
       - string:
           name: 'MBEDTLS_URL'
           default: 'https://git.trustedfirmware.org/mirror/mbed-tls.git'