时间不对问题解决，GPS_Backen增加check_new_itow(state.time_week_ms, 10);

libraries/AP_GPS/AP_GPS.cpp

@@ -523,6 +523,19 @@ uint64_t AP_GPS::time_epoch_usec(uint8_t instance) const
     if ((istate.last_gps_time_ms == 0 && istate.last_corrected_gps_time_us == 0) || istate.time_week == 0) {
         return 0;
     }
+    ////////////////////
+    static uint32_t last_1s = AP_HAL::millis();
+    if (AP_HAL::millis() - last_1s > 5000)
+    {
+        last_1s = AP_HAL::millis();
+        uint64_t temp1_time_ms,temp2_time_ms;
+        temp1_time_ms = istate_time_to_epoch_ms(istate.time_week, drivers[instance]->get_last_itow_ms());
+        temp2_time_ms = istate_time_to_epoch_ms(istate.time_week, istate.time_week_ms);
+        gcs().send_text(MAV_SEVERITY_INFO, "epoch:%lld,utc:%lld,now:%lld",istate.last_corrected_gps_time_us ,(temp1_time_ms*1000ULL) + (AP_HAL::micros64() - istate.last_corrected_gps_time_us),(temp2_time_ms + (AP_HAL::millis() - istate.last_gps_time_ms)) * 1000ULL);
+        gcs().send_text(MAV_SEVERITY_INFO, "epoch ms:%ld, %ld", drivers[instance]->get_last_itow_ms(), istate.time_week_ms );
+
+    }
+    ////////////////////
     uint64_t fix_time_ms;
     // add in the time since the last fix message
     if (istate.last_corrected_gps_time_us != 0) {

libraries/AP_GPS/GPS_Backend.cpp

@@ -107,15 +107,15 @@ void AP_GPS_Backend::make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds)
     state.time_week = ret / AP_SEC_PER_WEEK;
     state.time_week_ms = (ret % AP_SEC_PER_WEEK) * AP_MSEC_PER_SEC;
     state.time_week_ms += msec;
-
+    check_new_itow(state.time_week_ms, 10);
     static uint32_t last_1s = AP_HAL::millis();
     if (AP_HAL::millis() - last_1s > 5000)
     {
         // gcs().send_text(MAV_SEVERITY_INFO, "week:%d,ms:%ld",state.time_week,state.time_week_ms);
         // gcs().send_text(MAV_SEVERITY_INFO, "year:%d,m:%d,d:%d \n\r",tm.tm_year,tm.tm_mon,tm.tm_mday);
         // gcs().send_text(MAV_SEVERITY_INFO, "hour:%d,m:%d,s:%d \n\r",tm.tm_hour,tm.tm_min,tm.tm_sec);
-        gcs().send_text(MAV_SEVERITY_INFO, "unix_time:%ld",unix_time);
+        gcs().send_text(MAV_SEVERITY_INFO, "unix_time:%ld,%04d-%02d-%02d %02d:%02d:%02d",unix_time,tm.tm_year+ 1900 - 1,tm.tm_mon+1,tm.tm_mday,tm.tm_hour,tm.tm_min,tm.tm_sec);
-        gcs().send_text(MAV_SEVERITY_INFO,"now: %s\n",AP::rtc().get_rtc_date());
+        // gcs().send_text(MAV_SEVERITY_INFO,"now: %s\n",AP::rtc().get_rtc_date());
         last_1s = AP_HAL::millis();
     }
 }

libraries/AP_RTC/AP_RTC.cpp

@@ -52,30 +52,24 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
     //////////////////////////////////////
     const uint64_t oldest_acceptable_date_us = 1640995200ULL*1000*1000; // 2022-01-01 0:00
 
-    if (type >= rtc_source_type) {
-        // e.g. system-time message when we've been set by the GPS
         if (need_prt)
         {
-            gcs().send_text(MAV_SEVERITY_INFO, "type{%d} >= rtc_source_type{%d}",type , (uint8_t)rtc_source_type);
+            get_rtc_date();
+            gcs().send_text(MAV_SEVERITY_INFO, "type:%d,utc:%lld,now:%lld",type ,time_utc_usec,AP_HAL::micros64());
         }
+    if (type >= rtc_source_type && !need_prt) {
+        // e.g. system-time message when we've been set by the GPS
+
         return;
     }
 
     // check it's from an allowed sources:
     if (!(allowed_types & (1<<type))) {
-        if (need_prt)
-        {
-            gcs().send_text(MAV_SEVERITY_INFO, "!(allowed_types{%d}& (1<<type{%d}))",(uint8_t)allowed_types,(uint8_t)type);
-        }
         return;
     }
 
     // don't allow old times
     if (time_utc_usec < oldest_acceptable_date_us) {
-        if (need_prt)
-        {
-            gcs().send_text(MAV_SEVERITY_INFO, "time_utc_usec < oldest_acceptable_date_us");
-        }
         return;
     }
 
@@ -83,12 +77,20 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
     const int64_t tmp = int64_t(time_utc_usec) - int64_t(now);
     if (tmp < rtc_shift) {
         // can't allow time to go backwards, ever
-        if (need_prt)
+        static uint8_t sh_cnt;
+        sh_cnt += 1;
+            gcs().send_text(MAV_SEVERITY_INFO, "tmp-shift:%lld - %lld",tmp , rtc_shift);
+            gcs().send_text(MAV_SEVERITY_INFO, "now-utc:%lld - %lld",now , time_utc_usec);
+        if (sh_cnt > 5)
         {
-            gcs().send_text(MAV_SEVERITY_INFO, "tmp{%lld} < rtc_shift{%lld}",tmp , rtc_shift);
+            sh_cnt = 0;
+            goto Forc_Shift;
         }
+        
+        
         return;
     }
+Forc_Shift:
     WITH_SEMAPHORE(rsem);
 
     rtc_shift = tmp;
@@ -100,10 +102,9 @@ void AP_RTC::set_utc_usec(uint64_t time_utc_usec, source_type type)
 
     rtc_source_type = type;
 
-    if (need_prt)
+
-    {
         gcs().send_text(MAV_SEVERITY_INFO, "type:%d,in utc:%lld,rtc_shift:%lld",type,time_utc_usec,rtc_shift);
-    }
+    
 #if HAL_GCS_ENABLED
     // update signing timestamp
     GCS_MAVLINK::update_signing_timestamp(time_utc_usec);
@@ -251,7 +252,9 @@ char* AP_RTC::get_rtc_date(void)
     min = uint8_t(localtime_tm.tm_min);
     sec = uint8_t(localtime_tm.tm_sec);
     static char  buf[50];
-    snprintf(buf, sizeof(buf),  "%04d%02d%02d%02d%02d%02d",year,mon,mday,hour,min,sec);
+    snprintf(buf, sizeof(buf),  "%04d-%02d-%02d %02d:%02d:%02d",year,mon,mday,hour,min,sec);
+    gcs().send_text(MAV_SEVERITY_INFO, "get_rtc: %lld,%s",time_usec,buf);
+
     return buf;
 }