In my view, do NOT get the authorities involved until such time you actually observe something that truly requires their attention, such as finding human bones - so far you've mentioned only seeing small animal bones - nothing illegal about that.
Calling the authorities, unless absolutely necessary, will likely create far more problems for you.
My suggestion is to cover-over the hole ... or better yet fill it in with sand / gravel, etc to reduce the chance of someone else someday accidently finding / falling into it.
On a related note, if you / friend plan to go down into it, be sure to use a rope (ideally a safety harness) secured by another person when decending down into it; wear gloves and old clothes that can be easily discarded if need be - from the pics, the hole looks relatively beneign and of little danger, but you indicate the floor may not be solid and could hiding something else, so again, safety is critical when exploring it.
Good luck - let us know what you find - post more pics, etc if anything exciting turns up.
Ron
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