Hi Benjamin and Frank,
I've just noticed this on the Lebowski project, could be interesting.
Added version 2.A1.
The main addition is a hall assisted sensorless mode (activated in the hall menu). In this mode the controller in drive 3 still runs sensorless, but it takes the speed info from the hall sensors. Result is that it can deal with larger and more sudden motor speed changes without conking out. For instance when you use the controller with a mid-drive bike and go in the forest and jump roots, curbs etc.
Could be interesting not only for bike, but other application where the load can quickly vary.