Obsatcle avoidance bendy ruler

Dear sir,

I mounted one Tf mini lidar on fwd of copter ,As I have tested the obstacle avoidance with the tf mini Lidar ,it was working fine for Simple obstacle Avoidance as when we put for Autonomous flight (Waypoint ),i enabled the Bendy Ruler Algorithm Parameters we put the obstacle and it deviated horizontally properly as we gave the horizontal search/ fence from that and went to the first waypoint but it was not going to the next waypoint it stayed there itself.Can you please help to resolve the issue.we used the latest firmware 4.1.3 only.