After years of Bosch/Yamaha, I tried out a bike with Bafang Ultra and... I'm not impressed. Both torque sensor and gas lever feel... wrong. Torque sensor has lots of lag, and then when you pedal, the power build-up is not gradual like Yamaha, it's abrupt and feels uneven when you keep on pedaling. The gas lever is non-gradual, it's basically an on/off switch, the start is very abrupt, and it basically just reaches top speed and that's it. The display gives unreliable voltage readings, so you don't really know how much battery you have left: you turn off the bike, turn it on, and it's a completely different value. Subjectively, battery is drained a lot faster than on a comparable Bosch/Yamaha drive.