We introduce Cryoscope, a method for sampling on-chip baseband pulses used to dynamically control qubit frequency in a quantum processor. We specifically use Cryoscope to measure the step response of the dedicated flux control lines of two-junction transmon qubits in circuit QED processors with the temporal resolution of the room-temperature arbitrary waveform generator producing the control pulses. As a first application, we iteratively improve this step response using optimized real-time digital filters to counter the linear-dynamical distortion in the control line, as needed for high-fidelity repeatable one- and two-qubit gates based on dynamical control of qubit frequency.