diff --git a/dist/hornverifier b/dist/hornverifier
index 32893752..65a9a1ad 100755
Binary files a/dist/hornverifier and b/dist/hornverifier differ
diff --git a/dist/roverd b/dist/roverd
index 95b43ce8..c6681490 100755
Binary files a/dist/roverd and b/dist/roverd differ
diff --git a/dist/servoverifier b/dist/servoverifier
index 0c289348..5f8b2e5d 100755
Binary files a/dist/servoverifier and b/dist/servoverifier differ
diff --git a/pi/bin/video-publisher.sh b/pi/bin/video-publisher.sh
index 4175f75a..47889edd 100644
--- a/pi/bin/video-publisher.sh
+++ b/pi/bin/video-publisher.sh
@@ -71,10 +71,14 @@ VIDEO_WIDTH="640"
 VIDEO_HEIGHT="480"
 VIDEO_FPS="30"
 VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
+VIDEO_INVERT="${VIDEO_INVERT:-1}"
 VIDEO_SENSOR_MODE="${VIDEO_SENSOR_MODE:-1296:972}"
 
-# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
-FLIP_ARGS=(--rotation 180)
+# Flip the camera 180deg by default; allow upright camera mounts via VIDEO_INVERT=0.
+FLIP_ARGS=()
+if [[ "${VIDEO_INVERT}" -ne 0 ]]; then
+  FLIP_ARGS=(--rotation 180)
+fi
 
 MODE_ARGS=()
 if [[ -n "${VIDEO_SENSOR_MODE}" ]]; then
diff --git a/pi/roverd/config.go b/pi/roverd/config.go
index 5eca5393..a98b0077 100644
--- a/pi/roverd/config.go
+++ b/pi/roverd/config.go
@@ -84,6 +84,7 @@ type MediaConfig struct {
 	AudioPublishURL string   `yaml:"audioPublishUrl" json:"audioPublishUrl,omitempty"`
 	AudioForwardURL string   `yaml:"audioForwardUrl" json:"audioForwardUrl,omitempty"`
 	PublishPort     int      `yaml:"publishPort" json:"-"`
+	CameraInverted  bool     `yaml:"cameraInverted" json:"-"`
 	Manage          bool     `yaml:"manage"`
 	ManageAudio     bool     `yaml:"manageAudio"`
 	Service         string   `yaml:"service"`
@@ -178,6 +179,7 @@ func LoadConfig(path string) (*Config, error) {
 		},
 		Media: MediaConfig{
 			PublishPort:    9000,
+			CameraInverted: true,
 			HealthInterval: Duration{Duration: 30 * time.Second},
 			VideoBitrate:   2000000,
 		},
diff --git a/pi/roverd/media_env.go b/pi/roverd/media_env.go
index b2448baf..66fa636b 100644
--- a/pi/roverd/media_env.go
+++ b/pi/roverd/media_env.go
@@ -40,6 +40,7 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
 		fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", media.VideoFPS)
 	}
 	fmt.Fprintf(&buf, "VIDEO_BITRATE=%d\n", media.VideoBitrate)
+	fmt.Fprintf(&buf, "VIDEO_INVERT=%d\n", boolToInt(media.CameraInverted))
 	audioDevice := audio.CaptureDevice
 	if audioDevice == "" || audioDevice == "rovermic" {
 		audioDevice = "hw:0,0"
diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml
index fe97674e..fdda7f05 100644
--- a/pi/roverd/roverd.sample.yaml
+++ b/pi/roverd/roverd.sample.yaml
@@ -19,6 +19,8 @@ media:
   publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
   audioForwardUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha-fwd,m=request&latency=10&mode=caller&transtype=live&pkt_size=1316
   publishPort: 9000
+  # Default assumes camera is mounted upside down; set false for upright mounts.
+  cameraInverted: true
   videoBitrate: 2000000
   manage: true
   service: video-publisher.service