Maxsonar-I2C-EZ4 rangefinder always show "Bad LiDAR Health" When RNGFND_LANDING = 1

Ever since the Maxsonar I2C rangefinder type was changed from 4 to 2, this sonar sensor always got problem of reading the distance data. From the GCS we can read the distance data, but always updated delayed, if set RNGFND_LANDING = 1, it always show the messege of ‘Bad LiDAR Health’. Same sonar works well in FW3.7.1
From the log we can see the sonar distance data is so wired:

Log here: