Vertical bendyruler explanation parameters not present on the wiki

@rishabsingh3003 @rmackay9

Hi all,
I did a vertical bendyruler test with a 4" copter with a front sonar and a downward oriented lidar. I created two waypoints trying to reproduce this video. The copter detected the presence of an obstacle and got up, then the copter stopped fell almost to touch the ground.
I probably need to set the parameters better (I am attaching a bin log anyway). Can the parameters I attach (highlighted in yellow) create this problem? There is no explanation on the wiki for them.
Thank you