diff --git a/dist/roverd b/dist/roverd
index 2c8734d2..72484550 100755
Binary files a/dist/roverd and b/dist/roverd differ
diff --git a/dist/servoverifier b/dist/servoverifier
index 9acfb438..1f965abb 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 2d5115aa..0cd75e22 100644
--- a/pi/bin/video-publisher.sh
+++ b/pi/bin/video-publisher.sh
@@ -20,15 +20,15 @@ VIDEO_FPS="${VIDEO_FPS:-30}"
 VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
 AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
 AUDIO_DEVICE="${AUDIO_DEVICE:-plughw:0,0}"
-AUDIO_RATE="${AUDIO_RATE:-8000}"
+AUDIO_RATE="${AUDIO_RATE:-48000}"
 AUDIO_CHANNELS="${AUDIO_CHANNELS:-1}"
-AUDIO_BITRATE="${AUDIO_BITRATE:-64000}"
+AUDIO_BITRATE="${AUDIO_BITRATE:-24000}"
 
-# Normalize device/rate to match the HAT capture (2ch/48k S32_LE); plughw handles any minor conversions.
+# Normalize device/rate to match the HAT capture; plughw handles any minor conversions.
 AUDIO_DEVICE="plughw:0,0"
-AUDIO_RATE=8000
+AUDIO_RATE=48000
 AUDIO_CHANNELS=1
-AUDIO_BITRATE=64000
+AUDIO_BITRATE=24000
 # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
 FLIP_ARGS=(--rotation 180)
 
@@ -87,7 +87,10 @@ run_pipeline() {
 				-ar "${AUDIO_RATE}" \
 				-i "${AUDIO_DEVICE}" \
 				-c:v copy \
-				-c:a pcm_mulaw \
+				-c:a libopus \
+				-b:a "${AUDIO_BITRATE}" \
+				-application voip \
+				-frame_duration 60 \
 				-ac:a "${AUDIO_CHANNELS}" \
 				-ar:a "${AUDIO_RATE}" \
 				-af "aresample=async=1:min_hard_comp=0.050:first_pts=0" \
diff --git a/pi/install_roverd.sh b/pi/install_roverd.sh
index 86c2c9b3..a3e3d1b2 100755
--- a/pi/install_roverd.sh
+++ b/pi/install_roverd.sh
@@ -206,9 +206,9 @@ VIDEO_FPS=30
 VIDEO_BITRATE=3000000
 AUDIO_ENABLE=1
 AUDIO_DEVICE=plughw:0,0
-AUDIO_RATE=8000
+AUDIO_RATE=48000
 AUDIO_CHANNELS=1
-AUDIO_BITRATE=64000
+AUDIO_BITRATE=24000
 ENV
 chown roverd:roverd /var/lib/roverd/video.env
 chmod 0640 /var/lib/roverd/video.env
diff --git a/pi/roverd/config.go b/pi/roverd/config.go
index 92da69fb..032f558f 100644
--- a/pi/roverd/config.go
+++ b/pi/roverd/config.go
@@ -143,9 +143,9 @@ func LoadConfig(path string) (*Config, error) {
 		Audio: AudioConfig{
 			CaptureEnabled: true,
 			CaptureDevice:  "plughw:0,0",
-			SampleRate:     8000,
+			SampleRate:     48000,
 			Channels:       1,
-			Bitrate:        64000,
+			Bitrate:        24000,
 			TTSEnabled:     false,
 			DefaultEngine:  "flite",
 			DefaultVoice:   "rms",
diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml
index 28b50542..151e2e0d 100644
--- a/pi/roverd/roverd.sample.yaml
+++ b/pi/roverd/roverd.sample.yaml
@@ -40,9 +40,9 @@ cameraServo:
 audio:
   captureEnabled: true
   captureDevice: plughw:0,0
-  sampleRate: 8000
+  sampleRate: 48000
   channels: 1
-  bitrate: 64000
+  bitrate: 24000
   ttsEnabled: false
   defaultEngine: flite
   defaultVoice: rms