From 97c7098e14c24f3e1cd8b64fdb41a57afd0992c5 Mon Sep 17 00:00:00 2001
From: legop3 <minecratfd8@gmail.com>
Date: Thu, 27 Nov 2025 20:58:01 -0500
Subject: [PATCH] ooooopuusss

---
 dist/roverd                  | Bin 6815928 -> 6815928 bytes
 dist/servoverifier           | Bin 1769656 -> 1769656 bytes
 pi/bin/video-publisher.sh    |  15 +++++++++------
 pi/install_roverd.sh         |   4 ++--
 pi/roverd/config.go          |   4 ++--
 pi/roverd/roverd.sample.yaml |   4 ++--
 6 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/dist/roverd b/dist/roverd
index 2c8734d2eaeb9c6fa4046d1b97e22d336f39c462..724845501f441394a5227899ec7b01b487377a71 100755
GIT binary patch
delta 670
zcmb8qJ5N&q9ER}&2SMtEx7rrGAb3SY>Ft!BqNo&sBA0R%t)lky^pu(s3#A&m7)W?A
zP7()V;$UQAF}her6T_gN!05uD3yBW8=wRai6PP&swr6?P=bx+V;?={dM$hz|5sw5$
zQj@V<emEP{@8q)X=yWtZr4Pk2(M)7EGS_q8O68usu5yJYQ`vlX#*@wsj^{&jg=n@n
zFshU(isBHe=pGnT3Qb>MIzGR1uYLdY{zLzRr`aug-vWpdqLfgHGGZH1PE-)viAuso
z>>zd$yNKOH6(PNy*hB0k9E6i_5!FNuv5(kK93T!7wZtK!j;JRN6Gw=n#4+MHae`<d
zP7;m8DWZuuO`IW`2{+*(yo8VN6B-d9T8JQ_6Ct9NI7^%(+KBVS1>z#nPK1dL;?f&*
zKKoW)BEN4ZiZA|jKB{hr2mOf_(=uBO!}3|)kl#x9eVVQX4NDKklUCdcXqw-%vaA|)
zwOXjvtH*3cKAkZu?<I20Q+Lg@l}?&%voraX$IdRt(yFsdbc=}S5tl`;=o9^7Kt#o$
z7!t!`M2w0taYc-atKyo7iR<Eqm=HI`EpfZJ>WnXMm9AA3f7!b<^}kj;|6EDhe)~GS
ptf`+-7Q$$Eef*&;ZK{Sy2va1Bo2vC?zGQ7_W6>&ZET(=I{sLO8*{A>j

delta 684
zcmcJ~Ia3n>9ES0QMG!plqFkP!qKI<sCfOw@YB+*H2__stJa9L=8{&`&0-iG#FvA<h
z#z6}k3r$I-7KSgt2e7k~!pa#NE!4sp|6ju5*FDX%x%@`m6z|r2t?`F5!|`Nv?%t%6
z&E#UUS$o9lOt|S-WcIH4XfV1I92@U;!jC6kzW3FIqNBNFcwj#3cw<wMoaxRdrWcel
zMNw*mDu!YcO7cVBdiz`D`KPw@m&IScR;8qQX$3?HQA(&p8L@*XCn|`YL?uy0>>_p(
zdx*V+kC48a*hlOqYKU5*j;JRZhy%ny;t+9|I6@pH8i^+27;&69K{OL5iBm)iahhl)
z&JbsbHlm&AAUcUILL+p-PXve{VGt(KO@xRZ;v8|F=p`-?7l}(mnCK(=iGhz8eEq$=
zRDPAG#lqjgXZ0;k(6k*hp!s#j(~OX91p`*f)Ew6^EL+!uK_k$uhs;;&s@>S789jdg
zbd`NSGv`!3NG*0`b56#~xK6KU%`LiBfAoHh4NVKmN*}^?pMT^FwGlBSE{mub7FWbo
zF(P7OR9q8rkq~2ITug{bkrY$nx|kL>#7%Ka+!iz9PO(sHz4%tTQBnL|9SNxad2Cy?
c^V@1lIKnM%tKQe;l8yY<s#n}vP5*rI4?#}YF8}}l

diff --git a/dist/servoverifier b/dist/servoverifier
index 9acfb438261ddbdc0597e3ab2ee41dd6b75a46c3..1f965abba2d156d154c264d5ef37c8382b3755a3 100755
GIT binary patch
delta 319
zcmdndn6slXXF~_SrbT9^MOc(?L3WNud~mjFqJ?jkg??Fup+R<(b5M9hQCL8^NkBk)
zqR-@w{9=}c1|>duQRc}`IYy<~*#?2x#;#!uEDQ_`B0$Ux#O{8f4DT#drKUI3JNWy1
zd~*F$DYAEwe|eKYn*d{*08^U)bDIE5n*eK@09%^?dz%19n*e8<09Ts;cbfoDn*eW{
z0AHH`f17~7HUU9-5A{TI<7Bgxv=p<Xq%@;6LrdedWMd-}3lsCCGz;^@)U?DjQxg+o
zgXwM&g7T~;mR5!q?O73mKr95r!aytn#G*hf2E^h(EU`T+LNa(I83s=W8mzb7j7h5L
F9{|UnUIzdG

delta 319
zcmdndn6slXXF~_SW?7+MNr;n+m!o4@nX|8xZbo`hl)kxVzOR2thI5Exc0h?izFVY0
zyvgK^{9=}&IoTm;W+vfo!G6X@WhoWDZr)}LEDQ_`B0$Ux#O{8f3`Udx>7N(xvTdr!
ztFhpoKku*|qf?VWn*d{*08^U)bDIE5n*eK@09%^?dz%19n*e8<09Ts;cbfoDn*eW{
z0AHH`f17~7HUU9-5A_sN^Q07W6GLO8lr%##%cMk8lf-0m!<1Arv&1ALBU4i|6AL3t
z^XYC8g7U0}W>&_=?O73mKr95r!aytn#G*hf2E^h(EU`T+LNa(I83s=W8mzb7j7h5L
F9{~3HTD|}P

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