IZone and IWindup

[Adam Martin]

I was looking through the code and noticed that integral windup is handled by a fixed formula what do people think about exposing it to the terminal? 

I also noticed that there is no limiter for the integral to wait until the error (kP) is within a certain percent of the target and then brings integral (kI) into play. I'm seeing this on a lot of new servo controllers and speed controllers called IZone, it also helps prevents overshoot as the integral doesn't windup during bigger movements. Again this being exposed to the terminal would be really nice.

What do you guys think?