Addition automatic ki calculation and small improvement
- Addition of automatic calculation of ki with the task period time since the arm_pid function need ki*t and not ki for the initialisation.
- Small improvement for the anti WindUp calculation with arm functions
- Addition of a counter for the reset of the pid when the electrical source is off to avoid inopportune reset with an error of measure.
- Addition of Vsat verification which is the minimum voltage required for the entry to suit the Vref