From bf98fe14c3c89e65ce32079b92c469d8f2900200 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 12 Dec 2011 23:36:43 -0600
Subject: [PATCH] Revert "GCS/Scope: Make smooth interpolation (and internal
 sum) be long term correct despite limited floating point accuracy, but keep
 constant overhead"

This reverts commit 78278683cced7b17f1b1ccb5978527dca79381dc.
---
 .../src/plugins/scope/plotdata.cpp            | 31 +++----------------
 .../openpilotgcs/src/plugins/scope/plotdata.h |  2 --
 .../plugins/scope/scopegadgetoptionspage.ui   |  4 +--
 3 files changed, 6 insertions(+), 31 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/scope/plotdata.cpp b/ground/openpilotgcs/src/plugins/scope/plotdata.cpp
index e05bf7a1b..fdcb75a83 100644
--- a/ground/openpilotgcs/src/plugins/scope/plotdata.cpp
+++ b/ground/openpilotgcs/src/plugins/scope/plotdata.cpp
@@ -55,8 +55,6 @@ PlotData::PlotData(QString p_uavObject, QString p_uavField)
     scalePower = 0;
     interpolationSamples = 1;
     interpolationSum = 0.0f;
-    correctionSum = 0.0f;
-    correctionCount = 0;
     yMinimum = 0;
     yMaximum = 0;
 
@@ -97,23 +95,12 @@ bool SequencialPlotData::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);
-            yDataHistory->append( currentValue );
-            interpolationSum += currentValue;
+            yDataHistory->append( valueAsDouble(obj, field) * pow(10, scalePower));
+            interpolationSum += valueAsDouble(obj, field) * pow(10, scalePower);
             if(yDataHistory->size() > interpolationSamples) {
                 interpolationSum -= 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
-            correctionSum += currentValue;
-            if (++correctionCount >= interpolationSamples) {
-                interpolationSum = correctionSum;
-                correctionSum = 0.0f;
-                correctionCount = 0;
-            }
             yData->append(interpolationSum/yDataHistory->size());
             if (yData->size() > m_xWindowSize) {
                 yData->pop_front();
@@ -140,22 +127,12 @@ bool ChronoPlotData::append(UAVObject* obj)
             //Put the new value at the front
             QDateTime NOW = QDateTime::currentDateTime();
 
-            // calculate interpolated (smoothed) value
-            double currentValue = valueAsDouble(obj, field) * pow(10, scalePower);
-            yDataHistory->append( currentValue );
-            interpolationSum += currentValue;
+            yDataHistory->append( valueAsDouble(obj, field) * pow(10, scalePower));
+            interpolationSum += valueAsDouble(obj, field) * pow(10, scalePower);
             if(yDataHistory->size() > interpolationSamples) {
                 interpolationSum -= 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
-            correctionSum += currentValue;
-            if (++correctionCount >= interpolationSamples) {
-                interpolationSum = correctionSum;
-                correctionSum = 0.0f;
-                correctionCount = 0;
-            }
 
             double valueX = NOW.toTime_t() + NOW.time().msec() / 1000.0;
             double valueY = interpolationSum/yDataHistory->size();
diff --git a/ground/openpilotgcs/src/plugins/scope/plotdata.h b/ground/openpilotgcs/src/plugins/scope/plotdata.h
index a547f2b91..0b87c9937 100644
--- a/ground/openpilotgcs/src/plugins/scope/plotdata.h
+++ b/ground/openpilotgcs/src/plugins/scope/plotdata.h
@@ -74,8 +74,6 @@ public:
     int scalePower; //This is the power to which each value must be raised
     int interpolationSamples;
     double interpolationSum;
-    double correctionSum;
-    int correctionCount;
     double yMinimum;
     double yMaximum;
     double m_xWindowSize;
diff --git a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui
index b3d22faa0..147f972f1 100644
--- a/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui
+++ b/ground/openpilotgcs/src/plugins/scope/scopegadgetoptionspage.ui
@@ -162,7 +162,7 @@
        <item row="9" column="0">
         <widget class="QLabel" name="label_10">
          <property name="text">
-          <string>Display smoothed interpolation:</string>
+          <string>Smooth Interpolation:</string>
          </property>
         </widget>
        </item>
@@ -294,7 +294,7 @@ Update</string>
        <item>
         <widget class="QCheckBox" name="LoggingEnable">
          <property name="text">
-          <string>Log data to csv file (not interpolated)</string>
+          <string>Log data to csv file</string>
          </property>
         </widget>
        </item>