1、操作遥控器按钮，psdk进程通过socket发送命令给相机进程 来控制高光谱采集系统；

2、通过FFmpeg采集摄像头视频流并编码为h264，利用psdk推流到遥控器；

sample/api_sample/utils/util_math.c

@@ -0,0 +1,45 @@
+/**
+ ********************************************************************
+ * @file    util_math.c
+ * @brief
+ *
+ * @copyright (c) 2018 DJI. All rights reserved.
+ *
+ * All information contained herein is, and remains, the property of DJI.
+ * The intellectual and technical concepts contained herein are proprietary
+ * to DJI and may be covered by U.S. and foreign patents, patents in process,
+ * and protected by trade secret or copyright law.  Dissemination of this
+ * information, including but not limited to data and other proprietary
+ * material(s) incorporated within the information, in any form, is strictly
+ * prohibited without the express written consent of DJI.
+ *
+ * If you receive this source code without DJI’s authorization, you may not
+ * further disseminate the information, and you must immediately remove the
+ * source code and notify DJI of its removal. DJI reserves the right to pursue
+ * legal actions against you for any loss(es) or damage(s) caused by your
+ * failure to do so.
+ *
+ *********************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "util_math.h"
+#include "math.h"
+
+/* Private constants ---------------------------------------------------------*/
+
+/* Private types -------------------------------------------------------------*/
+
+/* Private values ---------------------------------------------------------*/
+
+/* Private functions declaration ---------------------------------------------*/
+
+/* Exported functions definition ---------------------------------------------*/
+int32_t UtilMath_Mod(int32_t a, int32_t b)
+{
+    return a - floor((double) a / (double) b) * b;
+}
+
+/* Private functions definition-----------------------------------------------*/
+
+/****************** (C) COPYRIGHT DJI Innovations *****END OF FILE****/