version 1.0.2

a. no boundaries
b. I - Factor tune.
c. time_skip
version 1.0.3

version 1.0.3:
a. separate skip_time be axis.
b. skip when rc stick is not neutral [+-Value]
(a & b) are some techniques used by CrashZero in his code ...
http://diydrones.com/profiles/blogs/zero-pid-tunes-for-multirotors-part-2?id=705844%3ABlogPost%3A1745293&page=3#comments