I'm not sure why I didn't notice this sooner.
When trying to do a bonded DFU with a Nexus 6P and Master Control Panel it seems to get stuck in a loop reconnecting.
I connect, bond and trigger a DFU and then MCP disconnects, reconnects, disconnects in a loop. It never attempts to trigger the switch to the bootloader.
However if I manually write the start command to the DFU control point, everything works just fine.
Android 5.1.1 on a Nexus 4 works just fine.
master-control-panel-log.txt or: gist.github.com/.../a51e30a8a41d5f02bb3c