fine

pi/bin/video-publisher.sh

@@ -19,14 +19,14 @@ VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
 VIDEO_FPS="${VIDEO_FPS:-30}"
 VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
 AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
-AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}"
-AUDIO_RATE="${AUDIO_RATE:-16000}"
+AUDIO_DEVICE="${AUDIO_DEVICE:-hw:0,0}"
+AUDIO_RATE="${AUDIO_RATE:-8000}"
 AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
 AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
 
 # Normalize device if env still says "default"
 if [[ "${AUDIO_DEVICE}" == "default" ]]; then
-	AUDIO_DEVICE="plughw:0,0"
+	AUDIO_DEVICE="hw:0,0"
 fi
 # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
 FLIP_ARGS=(--rotation 180)
@@ -86,10 +86,9 @@ run_pipeline() {
 				-ar "${AUDIO_RATE}" \
 				-i "${AUDIO_DEVICE}" \
 				-c:v copy \
-				-c:a pcm_alaw \
+				-c:a pcm_s16le \
 				-ac "${AUDIO_CHANNELS}" \
 				-ar "${AUDIO_RATE}" \
-				-af "aresample=async=1:min_hard_comp=0.100:first_pts=0" \
 				-flush_packets 1 \
 				-f mpegts \
 				"${PUBLISH_URL}"

pi/install_roverd.sh

@@ -126,7 +126,7 @@ ensure_pwm_overlay() {
 	log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
 }
 
-ensure_user roverd "dialout,gpio,video,render"
+ensure_user roverd "dialout,gpio,video,render,audio"
 install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
 log "Installed roverd binary"
 
@@ -205,8 +205,8 @@ VIDEO_HEIGHT=720
 VIDEO_FPS=30
 VIDEO_BITRATE=3000000
 AUDIO_ENABLE=1
-AUDIO_DEVICE=plughw:sndrpigooglevoi,0
-AUDIO_RATE=16000
+AUDIO_DEVICE=hw:0,0
+AUDIO_RATE=8000
 AUDIO_CHANNELS=1
 AUDIO_BITRATE=64000
 ENV

pi/roverd/config.go

@@ -142,8 +142,8 @@ func LoadConfig(path string) (*Config, error) {
 		},
 		Audio: AudioConfig{
 			CaptureEnabled: true,
-			CaptureDevice:  "plughw:0,0",
-			SampleRate:     16000,
+			CaptureDevice:  "hw:0,0",
+			SampleRate:     8000,
 			Channels:       1,
 			Bitrate:        64000,
 			TTSEnabled:     false,

pi/roverd/roverd.sample.yaml

@@ -39,8 +39,8 @@ cameraServo:
   allowRawPulse: false
 audio:
   captureEnabled: true
-  captureDevice: plughw:0,0
-  sampleRate: 16000
+  captureDevice: hw:0,0
+  sampleRate: 8000
   channels: 1
   bitrate: 64000
   ttsEnabled: false