diff --git a/dist/roverd b/dist/roverd
index dd9e6a5c..0a27a399 100755
Binary files a/dist/roverd and b/dist/roverd differ
diff --git a/dist/servoverifier b/dist/servoverifier
index 2718f57f..9b4f7cec 100755
Binary files a/dist/servoverifier and b/dist/servoverifier differ
diff --git a/pi/bin/audio-only-publisher.sh b/pi/bin/audio-only-publisher.sh
index 41f58a20..2bf50db9 100644
--- a/pi/bin/audio-only-publisher.sh
+++ b/pi/bin/audio-only-publisher.sh
@@ -42,7 +42,7 @@ run_pipeline() {
 		-ar "${AUDIO_RATE}" \
 		-ac "${AUDIO_CHANNELS}" \
 		-i <(arecord -D "${AUDIO_DEVICE}" -f S32_LE -c "${AUDIO_CHANNELS}" -r "${AUDIO_RATE}" -B 65536 -F 2048 -q -t raw) \
-		-af "aresample=16000,pan=mono|c0=0.5*FL+0.5*FR,volume=12dB" \
+		-af "aresample=16000,pan=mono|c0=0.5*FL+0.5*FR,volume=20dB" \
 		-c:a libopus \
 		-b:a 24000 \
 		-ar:a 16000 \
diff --git a/pi/roverd/config.go b/pi/roverd/config.go
index 13fb48a0..b0210f77 100644
--- a/pi/roverd/config.go
+++ b/pi/roverd/config.go
@@ -115,7 +115,7 @@ func LoadConfig(path string) (*Config, error) {
 	cfg := Config{
 		MaxWheelMMs: 500,
 		BRC: BRCConfig{
-			GPIOPin:  -1,
+			GPIOPin:  4,
 			GPIOChip: "gpiochip0",
 			PulseEvery: Duration{
 				Duration: time.Minute,
diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml
index f440e510..707402f3 100644
--- a/pi/roverd/roverd.sample.yaml
+++ b/pi/roverd/roverd.sample.yaml
@@ -5,7 +5,7 @@ serial:
   device: /dev/ttyAMA0
   baud: 115200
 brc:
-  gpioPin: 17
+  gpioPin: 4
   gpioChip: gpiochip0
   pulseEvery: 1m
   pulseWidth: 1s
diff --git a/pi/roverd/roverd.yaml b/pi/roverd/roverd.yaml
index 3457688f..df8367cf 100644
--- a/pi/roverd/roverd.yaml
+++ b/pi/roverd/roverd.yaml
@@ -5,7 +5,7 @@ serial:
   device: /dev/ttyAMA0
   baud: 115200
 brc:
-  gpioPin: 17
+  gpioPin: 4
   gpioChip: gpiochip0
   pulseEvery: 1m
   pulseWidth: 1s