After a minor tweak to the handling resolution of the Scanse Sweep data, all works brilliantly.
This is a five metre forwards flight, with the flight paused and later resumed once the obstacle has been avoided. Note that ‘H’ tracks the obstruction at about one meter away. Hence she flies a quarter circle around the circular cardboard tube, before continuing the forward flight when the obstruction is behind her.
The code is updated on GitHub as a result.