diff --git a/dist/roverd b/dist/roverd
index a31c1841..58163d13 100755
Binary files a/dist/roverd and b/dist/roverd differ
diff --git a/dist/servoverifier b/dist/servoverifier
index 812591eb..18c9241d 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 0b7b6508..4175f75a 100644
--- a/pi/bin/video-publisher.sh
+++ b/pi/bin/video-publisher.sh
@@ -67,9 +67,9 @@ load_env_file
 : "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
 
 # Defaults tuned for OV5647: use 4:3 output and force the common 2x2 binned full-FOV mode.
-VIDEO_WIDTH="${VIDEO_WIDTH:-640}"
-VIDEO_HEIGHT="${VIDEO_HEIGHT:-480}"
-VIDEO_FPS="${VIDEO_FPS:-30}"
+VIDEO_WIDTH="640"
+VIDEO_HEIGHT="480"
+VIDEO_FPS="30"
 VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
 VIDEO_SENSOR_MODE="${VIDEO_SENSOR_MODE:-1296:972}"
 
diff --git a/pi/install_roverd.sh b/pi/install_roverd.sh
index d62c7164..d6934ed3 100755
--- a/pi/install_roverd.sh
+++ b/pi/install_roverd.sh
@@ -215,9 +215,6 @@ cat > /var/lib/roverd/video.env <<'ENV'
 # Managed by roverd; placeholder values will be overwritten at runtime.
 PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
 AUDIO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
-VIDEO_WIDTH=1280
-VIDEO_HEIGHT=720
-VIDEO_FPS=30
 VIDEO_BITRATE=2000000
 AUDIO_ENABLE=0
 AUDIO_DEVICE=hw:0,0
diff --git a/pi/roverd/config.go b/pi/roverd/config.go
index 0bfbe20f..82b3eca9 100644
--- a/pi/roverd/config.go
+++ b/pi/roverd/config.go
@@ -136,9 +136,6 @@ func LoadConfig(path string) (*Config, error) {
 		Media: MediaConfig{
 			PublishPort:    9000,
 			HealthInterval: Duration{Duration: 30 * time.Second},
-			VideoWidth:     1280,
-			VideoHeight:    720,
-			VideoFPS:       30,
 			VideoBitrate:   2000000,
 		},
 		CameraServo: CameraServoConfig{
@@ -197,15 +194,6 @@ func LoadConfig(path string) (*Config, error) {
 	if cfg.Media.Manage && cfg.Media.HealthInterval.Duration <= 0 {
 		cfg.Media.HealthInterval = Duration{Duration: 30 * time.Second}
 	}
-	if cfg.Media.VideoWidth <= 0 {
-		cfg.Media.VideoWidth = 1280
-	}
-	if cfg.Media.VideoHeight <= 0 {
-		cfg.Media.VideoHeight = 720
-	}
-	if cfg.Media.VideoFPS <= 0 {
-		cfg.Media.VideoFPS = 30
-	}
 	if cfg.Media.VideoBitrate <= 0 {
 		cfg.Media.VideoBitrate = 3000000
 	}
diff --git a/pi/roverd/media_env.go b/pi/roverd/media_env.go
index e182c340..168c96ab 100644
--- a/pi/roverd/media_env.go
+++ b/pi/roverd/media_env.go
@@ -16,7 +16,7 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
 	if media.AudioPublishURL == "" && audio.CaptureEnabled {
 		return fmt.Errorf("audio publishUrl missing")
 	}
-	if media.VideoWidth <= 0 || media.VideoHeight <= 0 || media.VideoFPS <= 0 || media.VideoBitrate <= 0 {
+	if media.VideoWidth < 0 || media.VideoHeight < 0 || media.VideoFPS < 0 || media.VideoBitrate <= 0 {
 		return fmt.Errorf("invalid media dimensions/bitrate")
 	}
 	if err := os.MkdirAll(filepath.Dir(publisherEnvPath), 0o755); err != nil {
@@ -27,9 +27,15 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
 	if audio.CaptureEnabled && media.AudioPublishURL != "" {
 		fmt.Fprintf(&buf, "AUDIO_PUBLISH_URL=%s\n", media.AudioPublishURL)
 	}
-	fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", media.VideoWidth)
-	fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", media.VideoHeight)
-	fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", media.VideoFPS)
+	if media.VideoWidth > 0 {
+		fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", media.VideoWidth)
+	}
+	if media.VideoHeight > 0 {
+		fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", media.VideoHeight)
+	}
+	if media.VideoFPS > 0 {
+		fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", media.VideoFPS)
+	}
 	fmt.Fprintf(&buf, "VIDEO_BITRATE=%d\n", media.VideoBitrate)
 	audioDevice := audio.CaptureDevice
 	if audioDevice == "" || audioDevice == "rovermic" {
diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml
index fec07f0e..74f8f1c3 100644
--- a/pi/roverd/roverd.sample.yaml
+++ b/pi/roverd/roverd.sample.yaml
@@ -17,9 +17,6 @@ maxWheelSpeed: 350
 media:
   publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
   publishPort: 9000
-  videoWidth: 1280
-  videoHeight: 720
-  videoFps: 30
   videoBitrate: 2000000
   manage: true
   service: video-publisher.service