diff --git a/dist/roverd b/dist/roverd
index b5a89b26..5cc7c554 100755
Binary files a/dist/roverd and b/dist/roverd differ
diff --git a/dist/servoverifier b/dist/servoverifier
index 89e121d9..28aa3ea3 100755
Binary files a/dist/servoverifier and b/dist/servoverifier differ
diff --git a/pi/roverd/camera_servo.go b/pi/roverd/camera_servo.go
index 16eb92d7..c1ea8ac4 100644
--- a/pi/roverd/camera_servo.go
+++ b/pi/roverd/camera_servo.go
@@ -42,7 +42,7 @@ func NewCameraServo(cfg CameraServoConfig, logger *log.Logger) (*CameraServo, er
 		rpio.Close()
 		return nil, err
 	}
-	logger.Printf("camera servo initialized on GPIO %d (%.1f..%.1f deg)", cfg.Pin, cfg.MinAngle, cfg.MaxAngle)
+	logger.Printf("camera servo initialized on GPIO %d (%.1f..%.1f deg, %d..%d us, invert=%v)", cfg.Pin, cfg.MinAngle, cfg.MaxAngle, cfg.MinPulseUs, cfg.MaxPulseUs, cfg.Invert)
 	return servo, nil
 }
 
diff --git a/pi/roverd/config.go b/pi/roverd/config.go
index 5a0c7f6b..0bfbe20f 100644
--- a/pi/roverd/config.go
+++ b/pi/roverd/config.go
@@ -249,9 +249,16 @@ func validateServoConfig(cfg *CameraServoConfig) error {
 	if cfg.CycleLen <= 0 {
 		return errors.New("cycleLen must be > 0")
 	}
-	if cfg.MinPulseUs <= 0 || cfg.MaxPulseUs <= 0 || cfg.MinPulseUs >= cfg.MaxPulseUs {
+	if cfg.MinPulseUs <= 0 || cfg.MaxPulseUs <= 0 {
 		return errors.New("minPulseUs/maxPulseUs invalid")
 	}
+	if cfg.MinPulseUs == cfg.MaxPulseUs {
+		return errors.New("minPulseUs/maxPulseUs cannot be equal")
+	}
+	if cfg.MinPulseUs > cfg.MaxPulseUs {
+		cfg.MinPulseUs, cfg.MaxPulseUs = cfg.MaxPulseUs, cfg.MinPulseUs
+		cfg.Invert = !cfg.Invert
+	}
 	if cfg.MinAngle >= cfg.MaxAngle {
 		return errors.New("minAngle must be less than maxAngle")
 	}