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+# Pi Deployment Guide
+
+## Tooling
+
+Fedora 43:
+
+```bash
+sudo dnf install golang libgpiod
+```
+
+Cross-compiling roverd for Pi Zero 2 W (ARMv7):
+
+```bash
+cd pi/roverd
+mkdir -p ../../dist
+make pi-build
+```
+
+The binary is placed in `dist/roverd` (relative to the repo root).
+
+## Installing `roverd`
+
+1. Copy the binary and config:
+   ```bash
+   sudo useradd -r -s /usr/sbin/nologin roverd || true
+   sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd
+   sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml
+   ```
+   Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and the media WHEP URL that points at the central distribution server.
+
+2. Install the systemd unit:
+   ```bash
+   sudo install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
+   sudo systemctl daemon-reload
+   sudo systemctl enable --now roverd.service
+   ```
+
+`roverd` requires access to `/dev/ttyAMA0` and `/sys/class/gpio`; keeping it under its own user ensures the rest of the system stays isolated.  
+If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` service account can invoke `systemctl <action> <media.service>` (either run the unit as root or grant sudo privileges for that command).
+
+## Configuring mediaMTX
+
+1. Download the latest mediaMTX release for ARMv7 and place the binary at `/usr/local/bin/mediamtx`.
+2. Copy the provided config:
+   ```bash
+   sudo useradd -r -s /usr/sbin/nologin mediamtx || true
+   sudo install -d -o mediamtx -g mediamtx /etc/mediamtx
+   sudo install -o mediamtx -g mediamtx -m 0644 pi/mediamtx/mediamtx.yml /etc/mediamtx/mediamtx.yml
+   sudo install -m 0644 pi/systemd/mediamtx.service /etc/systemd/system/mediamtx.service
+   sudo systemctl daemon-reload
+   sudo systemctl enable --now mediamtx.service
+   ```
+
+The sample config uses the Raspberry Pi camera module as the source and exposes a WHEP endpoint at `http://<pi-host>:8889/whep/rovercam`. Point `media.whepUrl` in `roverd.yaml` at this URL so the central server can list it.  
+Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).
+
+## Server + UI
+
+From the repo root:
+
+```bash
+cd server
+npm install
+npm run start
+```
+
+This launches the HTTP server (serving the barebones UI) and the rover WebSocket endpoint at `ws://<server>:8080/rover`. The UI expects `roverd` instances to send `hello` frames so it can populate the rover list. Use the mode buttons to emit Start/Safe/Full/Passive/Dock commands (they send the raw OI opcode bytes), tap the sensor toggle to request Group 100 streaming, and use WASD for drive testing; the UI emits Drive Direct commands ~8 times per second, so the rover sees them immediately.