diff --git a/README.md b/README.md
index 8f10e1f6..5e33aca1 100644
--- a/README.md
+++ b/README.md
@@ -34,7 +34,7 @@ npm install
 npm run start
 ```
 
-Deploy a rover by copying the repo + `dist/roverd` to the Pi and running the helper:
+Deploy a rover by copying the repo + `dist/roverd` to the Pi and running the helper (it will also fetch mediaMTX when `--mediamtx` is set):
 
 ```bash
 cd ~/MultiRoombaRover
@@ -43,3 +43,4 @@ sudo ./pi/install_roverd.sh --mediamtx
 
 Then point each rover's `/etc/roverd.yaml` at `ws://<server>:8080/rover`, enable the sensor stream from the UI, and drive with WASD.
 Use the “Restart Camera” button if you enable media management so roverd can bounce the mediamtx service remotely.
+Heads-up: the BRC pulser currently hits `/sys/class/gpio/export`, so the service needs root privileges on Raspberry Pi OS. Until it’s switched to `libgpiod`, set `brc.gpioPin: -1` if you prefer to run unprivileged (the Create will then nap unless something else keeps it awake).
diff --git a/docs/pi-deployment.md b/docs/pi-deployment.md
index 1e16ee61..dec1db4d 100644
--- a/docs/pi-deployment.md
+++ b/docs/pi-deployment.md
@@ -32,7 +32,7 @@ What the script does:
 - creates the `roverd` (and optionally `mediamtx`) service users if missing and installs `/usr/local/bin/roverd`
 - copies `pi/roverd/roverd.sample.yaml` to `/etc/roverd.yaml` if the file is absent (existing configs are left untouched)
 - installs/enables the `roverd.service` systemd unit, restarting it automatically when a config already exists
-- when `--mediamtx` is passed, installs the sample mediaMTX config + unit, enables the service, and restarts it
+- when `--mediamtx` is passed, downloads the requested mediaMTX release for the Pi’s architecture, installs it to `/usr/local/bin/mediamtx`, drops the sample config + unit, enables the service, and restarts it
 
 Flags:
 
@@ -40,7 +40,8 @@ Flags:
 |------|---------|
 | `-b PATH` | use a different roverd binary (defaults to `dist/roverd`) |
 | `-c PATH` | seed `/etc/roverd.yaml` from another template |
-| `--mediamtx` | install the provided mediaMTX config + unit alongside roverd |
+| `--mediamtx` | download/install mediaMTX plus the provided config + unit |
+| `--mediamtx-version X.Y.Z` | override the mediaMTX release tag (default `1.8.6`) |
 
 If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and the WHEP URL that the central server should expose.
 
@@ -62,6 +63,7 @@ If the script installs the sample config, it will remind you to edit `/etc/rover
    ```
 
 `roverd` requires access to `/dev/ttyAMA0` and `/sys/class/gpio`; keeping it under its own user ensures the rest of the system stays isolated.  
+**BRC note:** writing to `/sys/class/gpio/export` typically requires root on Raspberry Pi OS. Until the pulser moves to `libgpiod`, either run the service as root or set `brc.gpioPin: -1` (rover may eventually sleep).  
 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
diff --git a/pi/install_roverd.sh b/pi/install_roverd.sh
index 9326db99..e2b23011 100755
--- a/pi/install_roverd.sh
+++ b/pi/install_roverd.sh
@@ -6,7 +6,8 @@ set -euo pipefail
 
 BINARY_SRC="dist/roverd"
 CONFIG_SRC="pi/roverd/roverd.sample.yaml"
-INSTALL_MEDIAMTX=0
+INSTALL_MEDIAMTX=1
+MEDIAMTX_VERSION="1.8.6"
 
 usage() {
 	cat <<'USAGE'
@@ -16,7 +17,8 @@ Options:
   -b, --binary <path>   Path to the roverd binary (default: dist/roverd)
   -c, --config <path>   Source config to install if /etc/roverd.yaml is missing
                         (default: pi/roverd/roverd.sample.yaml)
-      --mediamtx        Also install mediaMTX unit/config (requires pi/mediamtx files)
+      --mediamtx        Install/download mediaMTX (binary, config, systemd unit)
+      --mediamtx-version <v>  Override mediaMTX release tag (default: 1.8.6)
   -h, --help            Show this help text
 
 The script must run from the repository root and as root (sudo). It will:
@@ -41,6 +43,10 @@ while [[ $# -gt 0 ]]; do
 			INSTALL_MEDIAMTX=1
 			shift
 			;;
+		--mediamtx-version)
+			MEDIAMTX_VERSION="${2:-}"
+			shift 2
+			;;
 		-h|--help)
 			usage
 			exit 0
@@ -70,9 +76,15 @@ fi
 
 ensure_user() {
 	local user="$1"
-	local groups="$2"
+	local groups="${2:-}"
 	if ! id -u "$user" >/dev/null 2>&1; then
-		useradd -r -s /usr/sbin/nologin -G "$groups" "$user"
+		if [[ -n "$groups" ]]; then
+			useradd -r -s /usr/sbin/nologin -G "$groups" "$user"
+		else
+			useradd -r -s /usr/sbin/nologin "$user"
+		fi
+	elif [[ -n "$groups" ]]; then
+		usermod -a -G "$groups" "$user"
 	fi
 }
 
@@ -80,6 +92,51 @@ log() {
 	echo "[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
 }
 
+detect_mediamtx_asset() {
+	local arch
+	arch="$(uname -m)"
+	case "$arch" in
+		armv7l|armv6l)
+			echo "mediamtx_v${MEDIAMTX_VERSION}_linux_armv7.tar.gz"
+			;;
+		aarch64|arm64)
+			echo "mediamtx_v${MEDIAMTX_VERSION}_linux_arm64.tar.gz"
+			;;
+		x86_64|amd64)
+			echo "mediamtx_v${MEDIAMTX_VERSION}_linux_amd64.tar.gz"
+			;;
+		*)
+			echo ""
+			;;
+	esac
+}
+
+install_mediamtx_binary() {
+	if ! command -v curl >/dev/null 2>&1; then
+		echo "curl is required to download mediaMTX" >&2
+		exit 1
+	}
+	local asset
+	asset="$(detect_mediamtx_asset)"
+	if [[ -z "$asset" ]]; then
+		echo "Unsupported architecture $(uname -m) for mediaMTX download" >&2
+		exit 1
+	}
+	local url="https://github.com/bluenviron/mediamtx/releases/download/v${MEDIAMTX_VERSION}/${asset}"
+	local tmpdir
+	tmpdir="$(mktemp -d)"
+	log "Downloading mediaMTX ${MEDIAMTX_VERSION} (${asset})"
+	if ! curl -fsSL "$url" -o "${tmpdir}/${asset}"; then
+		echo "Failed to download mediaMTX from ${url}" >&2
+		rm -rf "$tmpdir"
+		exit 1
+	}
+	tar -xzf "${tmpdir}/${asset}" -C "$tmpdir" mediamtx
+	install -o mediamtx -g mediamtx -m 0755 "${tmpdir}/mediamtx" /usr/local/bin/mediamtx
+	log "Installed /usr/local/bin/mediamtx"
+	rm -rf "$tmpdir"
+}
+
 ensure_user roverd "dialout,gpio"
 install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
 log "Installed roverd binary"
@@ -117,6 +174,7 @@ if [[ $INSTALL_MEDIAMTX -eq 1 ]]; then
 	fi
 
 	ensure_user mediamtx ""
+	install_mediamtx_binary
 	install -d -o mediamtx -g mediamtx /etc/mediamtx
 	install -o mediamtx -g mediamtx -m 0644 pi/mediamtx/mediamtx.yml /etc/mediamtx/mediamtx.yml
 	install -m 0644 pi/systemd/mediamtx.service /etc/systemd/system/mediamtx.service