修复week weekms时间为utc时间

libraries/AP_GPS/GPS_Backend.cpp

@@ -16,8 +16,8 @@
 #include "AP_GPS.h"
 #include "GPS_Backend.h"
 #include <AP_Logger/AP_Logger.h>
-#include <time.h>
-#include <sys/time.h>
+
+#include <assert.h>
 #define GPS_BACKEND_DEBUGGING 0
 
 #if GPS_BACKEND_DEBUGGING
@@ -99,15 +99,18 @@ void AP_GPS_Backend::make_gps_time(uint32_t bcd_date, uint32_t bcd_milliseconds)
     time_t rawtime; 
     struct tm* timeinfo;
     time(&rawtime);
-    timeinfo = localtime(&rawtime);
+    timeinfo = gmtime(&rawtime);
     timeinfo->tm_year = year+2000 - 1900;
     timeinfo->tm_mon = mon - 1;    //months since January - [0,11]
     timeinfo->tm_mday = day;          //day of the month - [1,31] 
     timeinfo->tm_hour = hour;         //hours since midnight - [0,23]
     timeinfo->tm_min = min;          //minutes after the hour - [0,59]
     timeinfo->tm_sec = sec;          //seconds after the minute - [0,59]
-    uint32_t  ret = mktime(timeinfo);
-    ret -= 315936000; //315936000   1980-1-6 to 1970 1- 1
+    
+     //convert to time since Unix epoch
+    uint32_t  ret =mkgmtime(timeinfo);
+    //GPS epoch
+    ret -= 315964800; //315964800   1980-1-6  - 1970 1- 1
 
     // // get time in seconds since unix epoch
     // uint32_t ret = (year/4) - (GPS_LEAPSECONDS_MILLIS / 1000UL) + 367*rmon/12 + day;
@@ -303,3 +306,20 @@ void AP_GPS_Backend::check_new_itow(uint32_t itow, uint32_t msg_length)
         state.uart_timestamp_ms = local_us / 1000U;
     }
 }
+
+
+    time_t AP_GPS_Backend::mkgmtime(struct tm *unixdate)
+{
+    assert(unixdate != nullptr);
+
+    time_t     fakeUnixTime = mktime(unixdate); 
+    struct tm *fakeDate     = gmtime(&fakeUnixTime);
+
+    int32_t nOffset = fakeDate->tm_hour - unixdate->tm_hour;
+    if (nOffset > 12)
+    {
+        nOffset = 24 - nOffset;
+    }
+    return fakeUnixTime - nOffset * 3600;
+}
+

libraries/AP_GPS/GPS_Backend.h

@@ -20,6 +20,8 @@
 
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_RTC/JitterCorrection.h>
+#include <time.h>
+#include <sys/time.h>
 #include "AP_GPS.h"
 
 class AP_GPS_Backend
@@ -97,6 +99,7 @@ protected:
 
     void check_new_itow(uint32_t itow, uint32_t msg_length);
     
+      time_t mkgmtime(struct tm *unixdate);
 private:
     // itow from previous message
     uint32_t _last_itow;