I guess the most straight-forward way is to monkeypatch Rails code for parameter filtering in your config/initializers/filter_parameter_logging.rb:
# monkeypatch to filter nested parameters
class ActionDispatch::Http::ParameterFilter::CompiledFilter
  def call(original_params, path = [])
    filtered_params = {}
    original_params.each do |key, value|
      if regexps.any? { |r| key =~ r || (path + [key]).join('/') =~ r  }
        value = ActionDispatch::Http::ParameterFilter::FILTERED
      elsif value.is_a?(Hash)
        value = call(value, path + [key])
      elsif value.is_a?(Array)
        value = value.map { |v| v.is_a?(Hash) ? call(v, path + [key]) : v }
      elsif blocks.any?
        key = key.dup
        value = value.dup if value.duplicable?
        blocks.each { |b| b.call(key, value) }
      end
      filtered_params[key] = value
    end
    filtered_params
  end
end
and then:
Rails.application.config.filter_parameters += ['download/data']