Thanks very much for testing this. From a look at the log it seems like various values were tested but the autopilot wasn’t rebooted between changes. Sorry, I clearly should have explained that a reboot is required between changes. Once this is released the parameter descriptions will say it is a “RebootRequired” parameter.
I suspect though that maybe the real issue is this innocuous looking change that I did at the request of Lightware to increase the timeout for the Lightware lw20 I2C which is the lidar you’re using (I think).
… so, could you try this new firmware instead and see if it fixes the problem? This one also has the RNGFND_FILT parameter so maybe you could try setting it to various values including 0, 0.25, 0.5 and 10 and see how it does. https://www.dropbox.com/s/nvan137m3ds6nv9/Copter410-dev-rngfnd-filt-and-lwi2cfix-CUAVv5Nano.zip?dl=0
ERR: TERRAIN-2 means that it is missing terrain data. This error message seems to be appearing every time the vehicle enters Auto mode so I’ll have a look into this as well. The lidar seems OK and we don’t see the vehicle executing a terrain failsafe… anyway, i’ll look into it and add it to the “to be investigated list”