Candidate implementation

Hi,

Here's a rather straightforward candidate implementation for pid-config. As discussed, it doesn't require any modification on the PID side and it only stores a single copy of the parameters.

What I don't like about this implementation : the extern function pointers included in the .c file for testing.
I've been thinking about it and couldn't figure out another way to abstract the interface for testing.
Forgive me if I've missed something obvious there, I'd be happy to change it.

Both unit tests (pid-config only) and integration tests (with pid module) are included.

Cheers,

Pierluca
the getter needs to be synchronized as well. (float reads might not be atomic)