Added Math Functions to the scope. Currently only support standard deviation.

ground/openpilotgcs/src/plugins/scope/plotdata.cpp

@@ -53,8 +53,9 @@ PlotData::PlotData(QString p_uavObject, QString p_uavField)
 
     curve = 0;
     scalePower = 0;
-    interpolationSamples = 1;
+    meanSamples = 1;
-    interpolationSum = 0.0f;
+    meanSum = 0.0f;
+//    mathFunction=0;
     correctionSum = 0.0f;
     correctionCount = 0;
     yMinimum = 0;
@@ -96,28 +97,50 @@ bool SequentialPlotData::append(UAVObject* obj)
 
         if (field) {
 
-            //Shift data forward and put the new value at the front
-
-            // calculate interpolated (smoothed) value
             double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
+
+            //Compute boxcar average
+            if (meanSamples > 1){
+                //Put the new value at the front
                 yDataHistory->append( currentValue );
-            interpolationSum += currentValue;
+
-            if(yDataHistory->size() > interpolationSamples) {
+                // calculate average value
-                interpolationSum -= yDataHistory->first();
+                meanSum += currentValue;
+                if(yDataHistory->size() > meanSamples) {
+                    meanSum -= yDataHistory->first();
                     yDataHistory->pop_front();
                 }
-            // make sure to correct the sum every interpolationSamples steps to prevent it
+
-            // from running away due to flouting point rounding errors
+                // make sure to correct the sum every meanSamples steps to prevent it
-            correctionSum += currentValue;
+                // from running away due to floating point rounding errors
-            if (++correctionCount >= interpolationSamples) {
+                correctionSum+=currentValue;
-                interpolationSum = correctionSum;
+                if (++correctionCount >= meanSamples) {
+                    meanSum = correctionSum;
                     correctionSum = 0.0f;
                     correctionCount = 0;
                 }
-            yData->append(interpolationSum/yDataHistory->size());
+
-            if (yData->size() > m_xWindowSize) {
+                double boxcarAvg=meanSum/yDataHistory->size();
+
+                if ( mathFunction  == "Standard deviation" ){
+                    //Calculate square of sample standard deviation, with Bessel's correction
+                    double stdSum=0;
+                    for (int i=0; i < yDataHistory->size(); i++){
+                        stdSum+= pow(yDataHistory->at(i)- boxcarAvg,2)/(meanSamples-1);
+                    }
+                    yData->append(sqrt(stdSum));
+                }
+                else  {
+                    yData->append(boxcarAvg);
+                }
+            }
+            else{
+                yData->append( currentValue );
+            }
+
+            if (yData->size() > m_xWindowSize) { //If new data overflows the window, remove old data...
                 yData->pop_front();
-            } else
+            } else //...otherwise, add a new y point at position xData
                 xData->insert(xData->size(), xData->size());
 
             //notify the gui of changes in the data
@@ -137,30 +160,49 @@ bool ChronoPlotData::append(UAVObject* obj)
         //qDebug() << "uavObject: " << uavObject << ", uavField: " << uavField;
 
         if (field) {
-            //Put the new value at the front
+            QDateTime NOW = QDateTime::currentDateTime(); //THINK ABOUT REIMPLEMENTING THIS TO SHOW UAVO TIME, NOT SYSTEM TIME
-            QDateTime NOW = QDateTime::currentDateTime();
-
-            // calculate interpolated (smoothed) value
             double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
+
+            //Compute boxcar average
+            if (meanSamples > 1){
+                //Put the new value at the front
                 yDataHistory->append( currentValue );
-            interpolationSum += currentValue;
+
-            if(yDataHistory->size() > interpolationSamples) {
+                // calculate average value
-                interpolationSum -= yDataHistory->first();
+                meanSum += currentValue;
+                if(yDataHistory->size() > meanSamples) {
+                    meanSum -= yDataHistory->first();
                     yDataHistory->pop_front();
                 }
-            // make sure to correct the sum every interpolationSamples steps to prevent it
+                // make sure to correct the sum every meanSamples steps to prevent it
-            // from running away due to flouting point rounding errors
+                // from running away due to floating point rounding errors
-            correctionSum += currentValue;
+                correctionSum+=currentValue;
-            if (++correctionCount >= interpolationSamples) {
+                if (++correctionCount >= meanSamples) {
-                interpolationSum = correctionSum;
+                    meanSum = correctionSum;
                     correctionSum = 0.0f;
                     correctionCount = 0;
                 }
 
+                double boxcarAvg=meanSum/yDataHistory->size();
+//qDebug()<<mathFunction;
+                if ( mathFunction  == "Standard deviation" ){
+                    //Calculate square of sample standard deviation, with Bessel's correction
+                    double stdSum=0;
+                    for (int i=0; i < yDataHistory->size(); i++){
+                        stdSum+= pow(yDataHistory->at(i)- boxcarAvg,2)/(meanSamples-1);
+                    }
+                    yData->append(sqrt(stdSum));
+                }
+                else  {
+                    yData->append(boxcarAvg);
+                }
+            }
+            else{
+                yData->append( currentValue );
+            }
+
             double valueX = NOW.toTime_t() + NOW.time().msec() / 1000.0;
-            double valueY = interpolationSum/yDataHistory->size();
             xData->append(valueX);
-            yData->append(valueY);
 
             //qDebug() << "Data  " << uavObject << "." << field->getName() << " X,Y:" << valueX << "," <<  valueY;
 

ground/openpilotgcs/src/plugins/scope/plotdata.h

@@ -67,8 +67,9 @@ public:
     QString uavSubField;
     bool haveSubField;
     int scalePower; //This is the power to which each value must be raised
-    int interpolationSamples;
+    int meanSamples;
-    double interpolationSum;
+    double meanSum;
+    QString mathFunction;
     double correctionSum;
     int correctionCount;
     double yMinimum;

ground/openpilotgcs/src/plugins/scope/scopegadget.cpp

@@ -61,14 +61,16 @@ void ScopeGadget::loadConfiguration(IUAVGadgetConfiguration* config)
         QString uavObject = plotCurveConfig->uavObject;
         QString uavField = plotCurveConfig->uavField;
         int scale = plotCurveConfig->yScalePower;
-        int interpolation = plotCurveConfig->yInterpolationSamples;
+        int mean = plotCurveConfig->yMeanSamples;
+        QString mathFunction = plotCurveConfig->mathFunction;
         QRgb color = plotCurveConfig->color;
 
         widget->addCurvePlot(
                 uavObject,
                 uavField,
                 scale,
-		interpolation,
+                mean,
+                mathFunction,
                 QPen(  QBrush(QColor(color),Qt::SolidPattern),
 //					   (qreal)2,
 					   (qreal)1,

ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.cpp

@@ -31,7 +31,8 @@ ScopeGadgetConfiguration::ScopeGadgetConfiguration(QString classId, QSettings* q
         IUAVGadgetConfiguration(classId, parent),
         m_plotType((int)ChronoPlot),
         m_dataSize(60),
-        m_refreshInterval(1000)
+        m_refreshInterval(1000),
+        m_mathFunctionType(0)
 {
     uint currentStreamVersion = 0;
     int plotCurveCount = 0;
@@ -65,8 +66,11 @@ ScopeGadgetConfiguration::ScopeGadgetConfiguration(QString classId, QSettings* q
             color = qSettings->value("color").value<QRgb>();
             plotCurveConf->color = color;
             plotCurveConf->yScalePower = qSettings->value("yScalePower").toInt();
-            plotCurveConf->yInterpolationSamples = qSettings->value("yInterpolationSamples").toInt();
+            plotCurveConf->mathFunction = qSettings->value("mathFunction").toString();
-            if (!plotCurveConf->yInterpolationSamples) plotCurveConf->yInterpolationSamples = 1; // fallback for backward compatibility with earlier versions
+            plotCurveConf->yMeanSamples = qSettings->value("yMeanSamples").toInt();
+
+            if (!plotCurveConf->yMeanSamples) plotCurveConf->yMeanSamples = 1; // fallback for backward compatibility with earlier versions //IS THIS STILL NECESSARY?
+
             plotCurveConf->yMinimum = qSettings->value("yMinimum").toDouble();
             plotCurveConf->yMaximum = qSettings->value("yMaximum").toDouble();
 
@@ -105,8 +109,9 @@ IUAVGadgetConfiguration *ScopeGadgetConfiguration::clone()
     int plotDatasLoadIndex = 0;
 
     ScopeGadgetConfiguration *m = new ScopeGadgetConfiguration(this->classId());
-    m->setPlotType(m_plotType);
+    m->setPlotType( m_plotType);
     m->setDataSize( m_dataSize);
+    m->setMathFunctionType( m_mathFunctionType);
     m->setRefreashInterval( m_refreshInterval);
 
     plotCurveCount = m_PlotCurveConfigs.size();
@@ -120,7 +125,9 @@ IUAVGadgetConfiguration *ScopeGadgetConfiguration::clone()
         newPlotCurveConf->uavField = currentPlotCurveConf->uavField;
         newPlotCurveConf->color = currentPlotCurveConf->color;
         newPlotCurveConf->yScalePower = currentPlotCurveConf->yScalePower;
-        newPlotCurveConf->yInterpolationSamples = currentPlotCurveConf->yInterpolationSamples;
+        newPlotCurveConf->yMeanSamples = currentPlotCurveConf->yMeanSamples;
+        newPlotCurveConf->mathFunction = currentPlotCurveConf->mathFunction;
+
         newPlotCurveConf->yMinimum = currentPlotCurveConf->yMinimum;
         newPlotCurveConf->yMaximum = currentPlotCurveConf->yMaximum;
 
@@ -136,43 +143,46 @@ IUAVGadgetConfiguration *ScopeGadgetConfiguration::clone()
     return m;
 }
 
-/**
- * Saves a configuration.
- *
- */
-void ScopeGadgetConfiguration::saveConfig(QSettings* qSettings) const {
 
-    int plotCurveCount = m_PlotCurveConfigs.size();
+////THIS SEEMS TO BE UNUSED
-    int plotDatasLoadIndex = 0;
+///**
+// * Saves a configuration.
+// *
+// */
+//void ScopeGadgetConfiguration::saveConfig(QSettings* qSettings) const {
 
-    qSettings->setValue("configurationStreamVersion", m_configurationStreamVersion);
+//    int plotCurveCount = m_PlotCurveConfigs.size();
-    qSettings->setValue("plotType", m_plotType);
+//    int plotDatasLoadIndex = 0;
-    qSettings->setValue("dataSize", m_dataSize);
-    qSettings->setValue("refreshInterval", m_refreshInterval);
-    qSettings->setValue("plotCurveCount", plotCurveCount);
 
-    for(plotDatasLoadIndex = 0; plotDatasLoadIndex < plotCurveCount; plotDatasLoadIndex++)
+//    qSettings->setValue("configurationStreamVersion", m_configurationStreamVersion);
-    {
+//    qSettings->setValue("plotType", m_plotType);
-        qSettings->beginGroup(QString("plotCurve") + QString().number(plotDatasLoadIndex));
+//    qSettings->setValue("dataSize", m_dataSize);
+//    qSettings->setValue("refreshInterval", m_refreshInterval);
+//    qSettings->setValue("plotCurveCount", plotCurveCount);
 
-        PlotCurveConfiguration* plotCurveConf = m_PlotCurveConfigs.at(plotDatasLoadIndex);
+//    for(plotDatasLoadIndex = 0; plotDatasLoadIndex < plotCurveCount; plotDatasLoadIndex++)
-        qSettings->setValue("uavObject",  plotCurveConf->uavObject);
+//    {
-        qSettings->setValue("uavField",  plotCurveConf->uavField);
+//        qSettings->beginGroup(QString("plotCurve") + QString().number(plotDatasLoadIndex));
-        qSettings->setValue("color",  plotCurveConf->color);
-        qSettings->setValue("yScalePower",  plotCurveConf->yScalePower);
-        qSettings->setValue("yInterpolationSamples",  plotCurveConf->yInterpolationSamples);
-        qSettings->setValue("yMinimum",  plotCurveConf->yMinimum);
-        qSettings->setValue("yMaximum",  plotCurveConf->yMaximum);
 
-        qSettings->endGroup();
+//        PlotCurveConfiguration* plotCurveConf = m_PlotCurveConfigs.at(plotDatasLoadIndex);
-    }
+//        qSettings->setValue("uavObject",  plotCurveConf->uavObject);
+//        qSettings->setValue("uavField",  plotCurveConf->uavField);
+//        qSettings->setValue("color",  plotCurveConf->color);
+//        qSettings->setValue("mathFunction",  plotCurveConf->mathFunction);
+//        qSettings->setValue("yScalePower",  plotCurveConf->yScalePower);
+//        qSettings->setValue("yMeanSamples",  plotCurveConf->yMeanSamples);
+//        qSettings->setValue("yMinimum",  plotCurveConf->yMinimum);
+//        qSettings->setValue("yMaximum",  plotCurveConf->yMaximum);
 
-    qSettings->setValue("LoggingEnabled",  m_LoggingEnabled);
+//        qSettings->endGroup();
-    qSettings->setValue("LoggingNewFileOnConnect",  m_LoggingNewFileOnConnect);
+//    }
-    qSettings->setValue("LoggingPath",  m_LoggingPath);
+
+//    qSettings->setValue("LoggingEnabled",  m_LoggingEnabled);
+//    qSettings->setValue("LoggingNewFileOnConnect",  m_LoggingNewFileOnConnect);
+//    qSettings->setValue("LoggingPath",  m_LoggingPath);
 
 
-}
+//}
 
 void ScopeGadgetConfiguration::replacePlotCurveConfig(QList<PlotCurveConfiguration*> newPlotCurveConfigs)
 {

ground/openpilotgcs/src/plugins/scope/scopegadgetconfiguration.h

@@ -41,7 +41,8 @@ struct PlotCurveConfiguration
     QString uavField;
     int yScalePower; //This is the power to which each value must be raised
     QRgb color;
-    int yInterpolationSamples;
+    int yMeanSamples;
+    QString mathFunction;
     double yMinimum;
     double yMaximum;
 };
@@ -56,6 +57,7 @@ public:
 
     //configuration setter functions
     void setPlotType(int value){m_plotType = value;}
+    void setMathFunctionType(int value){m_mathFunctionType = value;}
     void setDataSize(int value){m_dataSize = value;}
     void setRefreashInterval(int value){m_refreshInterval = value;}
     void addPlotCurveConfig(PlotCurveConfiguration* value){m_PlotCurveConfigs.append(value);}
@@ -64,11 +66,12 @@ public:
 
     //configurations getter functions
     int plotType(){return m_plotType;}
+    int mathFunctionType(){return m_mathFunctionType;}
     int dataSize(){return m_dataSize;}
     int refreshInterval(){return m_refreshInterval;}
     QList<PlotCurveConfiguration*> plotCurveConfigs(){return m_PlotCurveConfigs;}
 
-    void saveConfig(QSettings* settings) const;
+//    void saveConfig(QSettings* settings) const; //THIS SEEMS TO BE UNUSED
     IUAVGadgetConfiguration *clone();
 
     bool getLoggingEnabled(){return m_LoggingEnabled;};
@@ -84,6 +87,7 @@ private:
     int m_plotType; //The type of the plot
     int m_dataSize; //The size of the data buffer to render in the curve plot
     int m_refreshInterval; //The interval to replot the curve widget. The data buffer is refresh as the data comes in.
+    int m_mathFunctionType; //The type of math function to be used in the scope analysis
     QList<PlotCurveConfiguration*> m_PlotCurveConfigs;
 
     void clearPlotData();

ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.cpp

@@ -69,6 +69,9 @@ QWidget* ScopeGadgetOptionsPage::createPage(QWidget *parent)
     //Connect signals to slots cmbUAVObjects.currentIndexChanged
     connect(options_page->cmbUAVObjects, SIGNAL(currentIndexChanged(QString)), this, SLOT(on_cmbUAVObjects_currentIndexChanged(QString)));
 
+    options_page->mathFunctionComboBox->addItem("None");
+    options_page->mathFunctionComboBox->addItem("Standard deviation");
+
     if(options_page->cmbUAVObjects->currentIndex() >= 0)
         on_cmbUAVObjects_currentIndexChanged(options_page->cmbUAVObjects->currentText());
 
@@ -92,6 +95,7 @@ QWidget* ScopeGadgetOptionsPage::createPage(QWidget *parent)
 
     //Set widget values from settings
     options_page->cmbPlotType->setCurrentIndex(m_config->plotType());
+    options_page->mathFunctionComboBox->setCurrentIndex(m_config->mathFunctionType());
     options_page->spnDataSize->setValue(m_config->dataSize());
     options_page->spnRefreshInterval->setValue(m_config->refreshInterval());
 
@@ -101,10 +105,11 @@ QWidget* ScopeGadgetOptionsPage::createPage(QWidget *parent)
         QString uavObject = plotData->uavObject;
         QString uavField = plotData->uavField;
         int scale = plotData->yScalePower;
-        int interpolation = plotData->yInterpolationSamples;
+        int mean = plotData->yMeanSamples;
+        QString mathFunction = plotData->mathFunction;
         QVariant varColor = plotData->color;
 
-        addPlotCurveConfig(uavObject,uavField,scale,interpolation,varColor);
+        addPlotCurveConfig(uavObject,uavField,scale,mean,mathFunction,varColor);
     }
 
     if(m_config->plotCurveConfigs().count() > 0)
@@ -152,6 +157,7 @@ void ScopeGadgetOptionsPage::setYAxisWidgetFromPlotCurve()
     if(listItem == 0)
         return;
 
+    //WHAT IS UserRole DOING?
     int currentIndex = options_page->cmbUAVObjects->findText( listItem->data(Qt::UserRole + 0).toString());
     options_page->cmbUAVObjects->setCurrentIndex(currentIndex);
 
@@ -166,9 +172,13 @@ void ScopeGadgetOptionsPage::setYAxisWidgetFromPlotCurve()
 
     setButtonColor(QColor((QRgb)rgb));
 
-    int interpolation = listItem->data(Qt::UserRole + 4).toInt(&parseOK);
+    int mean = listItem->data(Qt::UserRole + 4).toInt(&parseOK);
-    if(!parseOK) interpolation = 1;
+    if(!parseOK) mean = 1;
-    options_page->spnInterpolationSamples->setValue(interpolation);
+    options_page->spnMeanSamples->setValue(mean);
+
+    currentIndex = options_page->mathFunctionComboBox->findData( listItem->data(Qt::UserRole + 5).toString());
+    options_page->mathFunctionComboBox->setCurrentIndex(currentIndex);
+
 }
 
 void ScopeGadgetOptionsPage::setButtonColor(const QColor &color)
@@ -221,6 +231,7 @@ void ScopeGadgetOptionsPage::apply()
 
     //Apply configuration changes
     m_config->setPlotType(options_page->cmbPlotType->currentIndex());
+    m_config->setMathFunctionType(options_page->mathFunctionComboBox->currentIndex());
     m_config->setDataSize(options_page->spnDataSize->value());
     m_config->setRefreashInterval(options_page->spnRefreshInterval->value());
 
@@ -242,9 +253,12 @@ void ScopeGadgetOptionsPage::apply()
         else
             newPlotCurveConfigs->color = (QRgb)rgb;
 
-	newPlotCurveConfigs->yInterpolationSamples = listItem->data(Qt::UserRole + 4).toInt(&parseOK);
+        newPlotCurveConfigs->yMeanSamples = listItem->data(Qt::UserRole + 4).toInt(&parseOK);
         if(!parseOK)
-            newPlotCurveConfigs->yInterpolationSamples = 1;
+            newPlotCurveConfigs->yMeanSamples = 1;
+
+        newPlotCurveConfigs->mathFunction  = listItem->data(Qt::UserRole + 5).toString();
+
 
         plotCurveConfigs.append(newPlotCurveConfigs);
     }
@@ -271,7 +285,9 @@ void ScopeGadgetOptionsPage::on_btnAddCurve_clicked()
     if(!parseOK)
        scale = 0;
 
-    int interpolation = options_page->spnInterpolationSamples->value();
+    int mean = options_page->spnMeanSamples->value();
+    QString mathFunction = options_page->mathFunctionComboBox->currentText();
+
 
     QVariant varColor = (int)QColor(options_page->btnColor->text()).rgb();
 
@@ -281,27 +297,27 @@ void ScopeGadgetOptionsPage::on_btnAddCurve_clicked()
        options_page->lstCurves->currentItem()->text() == uavObject + "." + uavField)
     {
         QListWidgetItem *listWidgetItem = options_page->lstCurves->currentItem();
-        setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,interpolation,varColor);
+        setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,mean,mathFunction,varColor);
     }else
     {
-        addPlotCurveConfig(uavObject,uavField,scale,interpolation,varColor);
+        addPlotCurveConfig(uavObject,uavField,scale,mean,mathFunction,varColor);
 
         options_page->lstCurves->setCurrentRow(options_page->lstCurves->count() - 1);
     }
 }
 
-void ScopeGadgetOptionsPage::addPlotCurveConfig(QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor)
+void ScopeGadgetOptionsPage::addPlotCurveConfig(QString uavObject, QString uavField, int scale, int mean, QString mathFunction, QVariant varColor)
 {
     //Add a new curve config to the list
     QString listItemDisplayText = uavObject + "." + uavField;
     options_page->lstCurves->addItem(listItemDisplayText);
     QListWidgetItem *listWidgetItem = options_page->lstCurves->item(options_page->lstCurves->count() - 1);
 
-    setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,interpolation,varColor);
+    setCurvePlotProperties(listWidgetItem,uavObject,uavField,scale,mean,mathFunction,varColor);
 
 }
 
-void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetItem,QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor)
+void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetItem,QString uavObject, QString uavField, int scale, int mean, QString mathFunction, QVariant varColor)
 {
     bool parseOK = false;
 
@@ -317,7 +333,8 @@ void ScopeGadgetOptionsPage::setCurvePlotProperties(QListWidgetItem *listWidgetI
     listWidgetItem->setData(Qt::UserRole + 1,QVariant(uavField));
     listWidgetItem->setData(Qt::UserRole + 2,QVariant(scale));
     listWidgetItem->setData(Qt::UserRole + 3,varColor);
-    listWidgetItem->setData(Qt::UserRole + 4,QVariant(interpolation));
+    listWidgetItem->setData(Qt::UserRole + 4,QVariant(mean));
+    listWidgetItem->setData(Qt::UserRole + 5,QVariant(mathFunction));
 }
 
 /*!

ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.h

@@ -66,8 +66,8 @@ private:
     Ui::ScopeGadgetOptionsPage *options_page;
     ScopeGadgetConfiguration *m_config;
 
-    void addPlotCurveConfig(QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor);
+    void addPlotCurveConfig(QString uavObject, QString uavField, int scale, int mean, QString mathFunction, QVariant varColor);
-    void setCurvePlotProperties(QListWidgetItem *listWidgetItem, QString uavObject, QString uavField, int scale, int interpolation, QVariant varColor);
+    void setCurvePlotProperties(QListWidgetItem *listWidgetItem, QString uavObject, QString uavField, int scale, int mean, QString mathFunction, QVariant varColor);
     void setYAxisWidgetFromPlotCurve();
     void setButtonColor(const QColor &color);
     void validateRefreshInterval();

ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>544</width>
+    <width>548</width>
-    <height>342</height>
+    <height>457</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -185,43 +185,43 @@
        <item row="6" column="1">
         <widget class="QComboBox" name="cmbUAVField"/>
        </item>
-       <item row="7" column="0">
+       <item row="8" column="0">
         <widget class="QLabel" name="label_3">
          <property name="text">
           <string>Color:</string>
          </property>
         </widget>
        </item>
-       <item row="7" column="1">
+       <item row="8" column="1">
         <widget class="QPushButton" name="btnColor">
          <property name="text">
           <string>Choose</string>
          </property>
         </widget>
        </item>
-       <item row="8" column="0">
+       <item row="9" column="0">
         <widget class="QLabel" name="label_6">
          <property name="text">
           <string>Y-axis scale factor:</string>
          </property>
         </widget>
        </item>
-       <item row="8" column="1">
+       <item row="9" column="1">
         <widget class="QComboBox" name="cmbScale">
          <property name="editable">
           <bool>false</bool>
          </property>
         </widget>
        </item>
-       <item row="9" column="0">
+       <item row="10" column="0">
         <widget class="QLabel" name="label_10">
          <property name="text">
-          <string>Display smoothed interpolation:</string>
+          <string>Display moving average:</string>
          </property>
         </widget>
        </item>
-       <item row="9" column="1">
+       <item row="10" column="1">
-        <widget class="QSpinBox" name="spnInterpolationSamples">
+        <widget class="QSpinBox" name="spnMeanSamples">
          <property name="suffix">
           <string> samples</string>
          </property>
@@ -239,6 +239,16 @@
          </property>
         </widget>
        </item>
+       <item row="7" column="0">
+        <widget class="QLabel" name="mathFunctionLabel">
+         <property name="text">
+          <string>Math function:</string>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="1">
+        <widget class="QComboBox" name="mathFunctionComboBox"/>
+       </item>
       </layout>
      </item>
      <item>

ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.cpp

@@ -352,7 +352,7 @@ void ScopeGadgetWidget::setupChronoPlot()
 //	scaleWidget->setMinBorderDist(0, fmw);
 }
 
-void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor, int interpolationSamples, QPen pen)
+void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor, int meanSamples, QString mathFunction, QPen pen)
 {
     PlotData* plotData;
 
@@ -365,7 +365,8 @@ void ScopeGadgetWidget::addCurvePlot(QString uavObject, QString uavFieldSubField
 
     plotData->m_xWindowSize = m_xWindowSize;
     plotData->scalePower = scaleOrderFactor;
-    plotData->interpolationSamples = interpolationSamples;
+    plotData->meanSamples = meanSamples;
+    plotData->mathFunction = mathFunction;
 
     //If the y-bounds are supplied, set them
     if (plotData->yMinimum != plotData->yMaximum)

ground/openpilotgcs/src/plugins/scope/scopegadgetwidget.h

@@ -81,7 +81,7 @@ public:
     int refreshInterval(){return m_refreshInterval;}
 
 
-    void addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor = 0, int interpolationSamples = 1, QPen pen = QPen(Qt::black));
+    void addCurvePlot(QString uavObject, QString uavFieldSubField, int scaleOrderFactor = 0, int meanSamples = 1, QString mathFunction= "None", QPen pen = QPen(Qt::black));
     //void removeCurvePlot(QString uavObject, QString uavField);
     void clearCurvePlots();
     int csvLoggingStart();