Copter 4.1.0 "Failsafe terrain data missing" with rangefinder

Hi everyone!
I have a problem, then set “Auto” mode, get error “Failsafe terrain data missing”
On my copter, rangefinder vl53l0x use as primary alt source and no GPS.
I fly indoor with rangefinder and optical mode. In Loiter mode all ok.
In one topic recommend set TERRAIN_ENABLE to 0, but I can’t find TERRAIN_ENABLE in param list. I attached my parameters
Perhaps someone faced this problem, and can suggest a solution? Thanks
ed_19_09_20.param (15.2 KB)