PID: Improve the API docs and change default value of antiwindup #250

Job	Run time
binary (humble, main) / humble main	4m 38s
binary (humble, testing) / humble testing	4m 15s
binary (iron, main) / iron main	4m 29s
binary (iron, testing) / iron testing	4m 33s
binary (jazzy, main) / jazzy main	4m 28s
binary (jazzy, testing) / jazzy testing	4m 30s
binary (rolling, main) / rolling main	4m 27s
binary (rolling, testing) / rolling testing	4m 37s
	35m 57s

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