You need to leave the battery connected, remove the pcm fuse then buckle the driver seat belt, put the key in and turn to start and hold it there (it won't start). You will hear a chime and if you hold it a lttle longer you'll hear a 2nd chime.
The first chime is the pcm is reset. The second is the trans control is reset.
Disconnecting the battery will reset some stuff, but not the pcm stuff that you are looking for.
Yeah its the same as the older ones it's under the hood and its location is marked on the underside of the fuse box lid. The method mentioned above with the key is the correct method for our 06's as well.