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

I also want to know.

Do you have DSHOT capable ESCs, the telemtry (data) set up and “ESC” data in the logs?
You can check in Messages tab of MissionPlanner to see some message similar to:
RCOut: PWM:1-8 DS600:9-14
that indicates which outputs are using DSHOT.
If you have verified that you have ESC data getting to the flight controller, then you just need you just need those settings that Andy listed:


Otherwise you will need to provide much more information about you copter.