Merge branch 'master' into test-bad-integral-bounds
Merge pull request #16 from jbohren-forks/test-bad-integral-bounds

Tests for bad integral bounds in control_toolbox::Pid
This makes the internal computations of updatePid() keep the same sign that they did before the API change
adding documentation warning
bringing back old updatePid function contents
Merge branch 'master' into fix-pid-backwards-compatibility
Merge branch 'fix-pid-backwards-compatibility' into fix-PID-unbounded-i_error