My Firefox has browser.backspace_action set to the default value (zero), and it goes back to the previous page when I press the backspace key.
It's been less than 36 hours since I lost several hundred words of work because of this, so I'm pretty sure the default behavior is "go back" as of the latest stable version (46.0.1).
It seems like 0 (go back) has always been the default on Windows builds. On Linux it used to be 1 (scroll up) but they changed it to 2 (do nothing) in 2006.
I made a half-assed attempt to migrate my Windows Firefox profile to Linux a while ago, which probably explains why I'm seeing the Windows behavior on both platforms :(