Added the -peer-heartbeat-interval option
fix(config.go)

return a valid URL struct from sanitizeURL()
pass the URL struct above to sanitizeBindAddr()

Since url.Parse() will return an error when parsing an already-parsed
ipv6 url string, (e.g. [http://[fe80::6203:8ff:fe9e:ace%25eth0]:7001),
so I just return the valid URL struct from sanitizeURL() and send it to
sanitizeBindAddr(), then there is no need to parse it again in sanitizeBindAddr().

Besides, for IPV6 url, the percent sign should be escaped, see:
http://en.wikipedia.org/wiki/IPv6_address#Link-local_addresses_and_zone_indices
Merge pull request #793 from binocarlos/patch-1

Added the -peer-heartbeat-interval option
Merge pull request #791 from yifan-gu/ipv6_zone_fix

Ipv6 zone fix
docs(api): update cluster config API