updated PID test
Merge branch 'master' of https://github.com/naiad-auv/naiad-auv-software
Merge branch 'master' of https://github.com/naiad-auv/naiad-auv-software
Merge branch 'master' of https://github.com/naiad-auv/naiad-auv-software
Merge branch 'master' of https://github.com/naiad-auv/naiad-auv-software
Merge branch 'master' of https://github.com/naiad-auv/naiad-auv-software
Merge branch 'master' of https://github.com/naiad-auv/naiad-auv-software
exception handling
Merge branch 'master' of https://github.com/naiad-auv/naiad-auv-software