I just commited this patch with some changes:

The properties probe_elev_m[0..4] were uninitialized and used in the Run() 
method before being initialized by a scan of the ground elevations.
The first scan was performed after one second, so for the first second the 
probe_elev_m were used in an uninitialized state.

I changed the timer behaviour to run the scan before the probe_elev_m values 
are used.

To check, if this solves (and not hides) the nan issue, i commented out the 
line containing the isnan() check.

Please report, if this works.

Torsten

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