ESC Telemetry Based Harmonic Notch Setup¶

hello, im going to do harmonic notch filtering in my quad.
where can i find hover frequency?
in arducopter docs said :

Set INS_HNTCH_FREQ and/or INS_HNTC2_FREQ = below the hover frequency - you can easily determine this by performing a gentle hover and looking at the ESC telemetry data

Do you have ESC telemetry?

yes i have esc telemetry support, and i use bdshot

So you don’t need to mess with INS_HNTCH_FREQ - just leave it at the default for now. All you need to do is set:

Oke, I did it, and test hovering few second
what else should I do next?

Read the wiki ESC Telemetry Based Harmonic Notch Setup — Copter documentation

I have read it
I do not know which ESC telemetry data for INS_HNTCH_FREQ