Stancecoke, a bit more info on what I found today with the Torque Simulation firmware branch. My setup is Q128H, S06S, SLCD3, 48v 12s lipo. I'm using the PSWpower version of the S06S, this is very similar to the BMS version and seems to operate in exactly the same way. I tried three of the four modes:-I've been trying out your firmware for a short time on the road today, I've a few early observations, will give some more detail when I get a bit more time.
Ride Mode Throttle.
This worked very well, noticed some oscillation in motor assist during acceleration but once up to speed was smooth and quiet.
Throttle and PAS
This not so good - motor gave no response to either throttle or PAS input. Whilst trying smelt something burning and realised controller was seriously hot and hit the battery switch before any damage done, definitely something not right here. A bit of a disappointment as this is the mode I normally like to ride.
This mode worked but with some rather fierce and alarming motor surges. These happened 1) At initial switch on from the SLCD3, 2) If pedals rotated even slightly backwards, 3) If the cycle was pushed backwards. These surges were quite short (around 1 sec duration) but were powerful and could pull the bike from your hands if you weren't expecting them. When finally out on the road however it worked well, and the torque simulation feature built the motor power up in a pleasantly gradual manner as you increased cadence.
Didn't try the Torque Sensor mode as I don't have one fitted.
...so a bit of a mixed bag, some good, some not so good. Obviously early days though and shows great promise but clearly needs a little more developement and testing, which I'm sure is what you expected....