I admit I cheated and did not read the 250+ pages.
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I'll give you the "Reader's Digest" version, which is sure to include my personal bias, though I will attempt at least to some extent, to be objective.
--Tesla marketed the P85D flagship product as a 691 HP car. Every article written referred to the car as a 691 HP car. Tesla made no attempt to correct this.
--It was eventually determined that the P85D could not make 691 HP anywhere in the drive train at any time ever. I believe the expectation is that the max HP is about 550, at the battery.
--Tesla explains that this is due to a battery limitation, and not limitation of the motors, and that the HP is "Motor HP." They say that given enough juice, the motors could produce 691 HP.
--There may or may not be a European standard - ECE R85 - that allows for rating the motors this way. (There is much debate on that point.)
--Many who purchased the car thinking it was a 691 HP car feel misled. It meets the 0-60 acceleration specs, but does not accelerate the way a 691 HP car would at higher speeds.
--Many believe Tesla had intended to correct this shortcoming with a software update, and they had even announced a coming software update to "improve high speed performance" on their website. That never materialized.
--Many believe that software update turned into the "Ludicrous" mode because Tesla realized hardware was required as well. That's available for an extra $10,000, or for a $5,000 upgrade charge to P85D owners. Ludicrous will get the car closer to the original 691 HP, but does not get it all the way there.
--In other countries, like Denmark and Norway, consumer advocacy groups are involved in this controversy.
--Eventually Tesla updated the figures on their website to indicate that the car was only capable of making 463 HP, with an asterisk that reads "Battery limited maximum motor shaft power." This is a great step to prevent future purchasers from being misled, but does nothing for those who purchased the P85D thinking that it was a 691 HP car and not a 463 HP car.