Executing "hcitool cmd 0x03 0x0003" made the error with hcitool disappear:
hcitool lescan
LE Scan ...

But hcitool does not seem to work as I can't find any ble devices.
btmon output after executing "hcitool cmd 0x03 0x0003 and hcitool lescan:

> HCI Event: Command Complete (0x0e) plen 4                                     
>                                                    #51 [hci0] 21:45:08.127791
      LE Set Scan Enable (0x08|0x000c) ncmd 2
        Status: Success (0x00)
< HCI Command: LE Set Scan Parameters (0x08|0x000b) plen 7                      
                                                   #52 [hci0] 21:45:08.127962
        Type: Passive (0x00)
        Interval: 10.000 msec (0x0010)
        Window: 10.000 msec (0x0010)
        Own address type: Public (0x00)
        Filter policy: Accept all advertisement (0x00)
> HCI Event: Command Complete (0x0e) plen 4                                     
>                                                    #53 [hci0] 21:45:08.128699
      LE Set Scan Parameters (0x08|0x000b) ncmd 1
        Status: Success (0x00)
< HCI Command: LE Set Scan Parameters (0x08|0x000b) plen 7                      
                                                   #54 [hci0] 21:45:08.128795
        Type: Passive (0x00)
        Interval: 10.000 msec (0x0010)
        Window: 10.000 msec (0x0010)
        Own address type: Public (0x00)
        Filter policy: Accept all advertisement (0x00)
> HCI Event: Command Complete (0x0e) plen 4                                     
>                                                    #55 [hci0] 21:45:08.129744
      LE Set Scan Parameters (0x08|0x000b) ncmd 1
        Status: Success (0x00)
< HCI Command: LE Set Scan Enable (0x08|0x000c) plen 2                          
                                                   #56 [hci0] 21:45:08.129821
        Scanning: Enabled (0x01)
        Filter duplicates: Disabled (0x00)
> HCI Event: Command Complete (0x0e) plen 4                                     
>                                                    #57 [hci0] 21:45:08.131737
      LE Set Scan Enable (0x08|0x000c) ncmd 2
        Status: Success (0x00)
< HCI Command: LE Set Scan Enable (0x08|0x000c) plen 2                          
                                                   #58 [hci0] 21:45:08.190201
        Scanning: Disabled (0x00)
        Filter duplicates: Enabled (0x01)
> HCI Event: Command Complete (0x0e) plen 4                                     
>                                                    #59 [hci0] 21:45:08.200856
      LE Set Scan Enable (0x08|0x000c) ncmd 2
        Status: Success (0x00)
@ RAW Close: hcitool

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https://bugs.launchpad.net/bugs/1870837

Title:
  hcitool lescan says 'Set scan parameters failed: Input/output error'

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