Also for with-BAQ vs without-BAQ see this pic from the above github PR:

The blue bars at the top right is elapsed time, shoing how significant BAQ is to the running time of "bcftools mpileup".
This was an earlier version of the PR so the results have changed since then for "partial" mode, but basically it shows the general gist. Each dot there is a different quality filtering level in increments of 10 (GATK may have been bigger increments, I forget). So bottom right is all variants (QUAL>=0), somewhere closer to bottom left corner are around QUAL>=100 ish, and the top left are higher levels of QUAL. As expected increasing the QUAL filter reduces FP (higher precision) but increases FN (lower recall). There's a "sweet spot", but where it is depends on your goals.
It's clear that at 60x coverage BAQ has a significant hit to recall rates (higher Y) but also improves accuracy (lower X). However for most realistic QUAL filtering levels, you're better off disabling BAQ and just increasing your QUAL filter level a bit to compensate. Eg Q>=70 no-BAQ is lower FN and lower FP than Q>=30 full-BAQ. At very high filtering this isn't true, with the change over point around QUAL>=120. The partial BAQ mode (NB this has been revised since, so don't draw too much into that line) did better than either.
At lower depth, eg 15x, it's totally different and BAQ always wins out. This is fair enough as it's how BAQ was initially written. When Heng Li wrote it he was working on 1000 Genomes Project which was doing very shallow sequencing of lots of samples. Data has moved on since then, and the algorithms and parameters aren't well tuned.
As a final comment on tuning, I'd also recommend upping the -h option from 100 to maybe 500 for modern Illumina data sets, ie bcftools mpileup -h 500. This is a major benefit for indel calling. It's a homopolymer error bias, so indels in homopolymers get rejected if the homopolymer length is too long, reflecting the likelihood of sequencing artifact being higher than genuine variant. Again it's a product of the time. In 1000G era, that was true. On modern Illumina platforms it's rarely a major source of errors. While you're at it, also best to add -m 2 or -m 3 to filter the more rediculous indel false positives. Another product of the extreme low-depth origins of bcftools that doesn't apply so much now.