UI improvements, and control softening

SUB Control/tests/test_vehicle_state.py

@@ -112,6 +112,15 @@ class WorkerWatchdogTests(unittest.TestCase):
             self.assertNeutral()
             self.assertEqual(self.worker.axes, Axes())
 
+    def test_intermediate_demands_reach_mavlink_with_output_limit(self):
+        with patch("app.time.monotonic", return_value=10):
+            self.worker.last_control_at = 9.9
+            self.worker.set_axes(Axes(forward=.25, vertical=.25), 1)
+            self.worker._send_control()
+            # 25% input at the default 20% limit: 5% command, not 100%.
+            self.assertEqual(self.worker.connection.mav.manual_control_send.call_args.args,
+                             (1, 50, 0, 525, 0, 0))
+
     def test_heartbeat_freeze_neutralizes_even_with_live_ui(self):
         with patch("app.time.monotonic", return_value=13.1):
             self.worker.set_axes(Axes(forward=1), 1)