Comment 21 for bug 1870837

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You-Sheng Yang (vicamo) wrote : Re: hcitool lescan says 'Set scan parameters failed: Input/output error'

https://git.kernel.org/pub/scm/bluetooth/bluez.git/commit/?id=b1eb2c4cd057624312e0412f6c4be000f7fc3617
These legacy tools has been marked deprecated since 2017. You should try migrating to bluetoothctl instead.