guh..,ugh

pi/asound.conf

@@ -4,11 +4,11 @@ options snd_rpi_googlevoicehat_soundcard index=0
 # Simple defaults: direct playback/capture on the voice HAT
 pcm.!default {
     type asym
-    playback.pcm "plughw:sndrpigooglevoi,0"
-    capture.pcm "plughw:sndrpigooglevoi,0"
+    playback.pcm "plughw:0,0"
+    capture.pcm "plughw:0,0"
 }
 
 ctl.!default {
     type hw
-    card sndrpigooglevoi
+    card 0
 }

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="${AUDIO_DEVICE:-plughw:sndrpigooglevoi,0}"
+AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}"
 AUDIO_RATE="${AUDIO_RATE:-16000}"
 AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
 AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
 
 # Normalize device if env still says "default"
 if [[ "${AUDIO_DEVICE}" == "default" ]]; then
-	AUDIO_DEVICE="plughw:sndrpigooglevoi,0"
+	AUDIO_DEVICE="plughw:0,0"
 fi
 # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
 FLIP_ARGS=(--rotation 180)
@@ -77,18 +77,19 @@ run_pipeline() {
 				-loglevel warning \
 				-fflags nobuffer \
 				-use_wallclock_as_timestamps 1 \
+				-thread_queue_size 512 \
 				-f h264 \
 				-i pipe:0 \
 				-f alsa \
-				-thread_queue_size 512 \
+				-thread_queue_size 1024 \
 				-ac "${AUDIO_CHANNELS}" \
 				-ar "${AUDIO_RATE}" \
 				-i "${AUDIO_DEVICE}" \
 				-c:v copy \
-				-c:a aac \
-				-b:a "${AUDIO_BITRATE}" \
+				-c:a pcm_alaw \
 				-ac "${AUDIO_CHANNELS}" \
 				-ar "${AUDIO_RATE}" \
+				-af "aresample=async=1:min_hard_comp=0.100:first_pts=0" \
 				-flush_packets 1 \
 				-f mpegts \
 				"${PUBLISH_URL}"
@@ -119,6 +120,7 @@ run_pipeline() {
 				-loglevel warning \
 				-fflags nobuffer \
 				-use_wallclock_as_timestamps 1 \
+				-thread_queue_size 512 \
 				-f h264 \
 				-i pipe:0 \
 				-c:v copy \

pi/roverd/config.go

@@ -142,7 +142,7 @@ func LoadConfig(path string) (*Config, error) {
 		},
 		Audio: AudioConfig{
 			CaptureEnabled: true,
-			CaptureDevice:  "plughw:sndrpigooglevoi,0",
+			CaptureDevice:  "plughw:0,0",
 			SampleRate:     16000,
 			Channels:       1,
 			Bitrate:        64000,

pi/roverd/roverd.sample.yaml

@@ -39,7 +39,7 @@ cameraServo:
   allowRawPulse: false
 audio:
   captureEnabled: true
-  captureDevice: plughw:sndrpigooglevoi,0
+  captureDevice: plughw:0,0
   sampleRate: 16000
   channels: 1
   bitrate: 64000