Wow, that's noisy, but does sound like tappets to me. My wife's F has a noisy tappet(s) that only quiets when being driven but at idle gets noisy again. I was going to investigate and clean or change out the noisy tappet(s) this winter but ran out of time.
An oil change will probably help, using good quality oil. You may consider an additive, like Wynns hydraulic lifter treatment, or an engine flush additive before you change the oil. Best read up on these two options.