diff --git a/README.md b/README.md
index 7ff96690..3237b4a5 100644
--- a/README.md
+++ b/README.md
@@ -97,42 +97,41 @@ Features:
 
 ## RTP Payload Formats
 
-In RTSP, media streams are routed between server and clients by using RTP packets. Conversion between RTP packets and codec-specific frames happens by using a payload format. This library recognizes the following payload formats:
+In RTSP, media streams are routed between server and clients by using RTP packets, which are encoded in a specific, codec-dependent, format, that is declared during the handshake. This library supports the following formats:
 
 ### Video
 
-|format / codec|variant|documentation|encoder and decoder available|
-|--------------|-------|-------------|-----------------------------|
-|AV1||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#AV1)|:heavy_check_mark:|
-|VP9||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#VP9)|:heavy_check_mark:|
-|VP8||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#VP8)|:heavy_check_mark:|
-|H265||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#H265)|:heavy_check_mark:|
-|H264||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#H264)|:heavy_check_mark:|
-|MPEG-4 Video (H263, Xvid)||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG4VideoES)|:heavy_check_mark:|
-|MPEG-1/2 Video||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG1Video)|:heavy_check_mark:|
-|M-JPEG||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MJPEG)|:heavy_check_mark:|
+|format|documentation|encoder and decoder available|
+|------|-------------|-----------------------------|
+|AV1|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#AV1)|:heavy_check_mark:|
+|VP9|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#VP9)|:heavy_check_mark:|
+|VP8|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#VP8)|:heavy_check_mark:|
+|H265|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#H265)|:heavy_check_mark:|
+|H264|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#H264)|:heavy_check_mark:|
+|MPEG-4 Video (H263, Xvid)|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG4Video)|:heavy_check_mark:|
+|MPEG-1/2 Video|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG1Video)|:heavy_check_mark:|
+|M-JPEG|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MJPEG)|:heavy_check_mark:|
 
 ### Audio
 
-|format / codec|variant|documentation|encoder and decoder available|
-|--------------|-------|-------------|-----------------------------|
-|Opus||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#Opus)|:heavy_check_mark:|
-|Vorbis||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#Vorbis)||
-|MPEG-4 Audio (AAC)|Generic (RFC3640)|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG4AudioGeneric)|:heavy_check_mark:|
-|MPEG-4 Audio (AAC)|LATM (RFC6416)|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG4AudioLATM)|:heavy_check_mark:|
-|MPEG-1/2 Audio (MP3)||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG1Audio)|:heavy_check_mark:|
-|AC-3||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#AC3)|:heavy_check_mark:|
-|Speex||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#Speex)||
-|G726||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#G726)||
-|G722||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#G722)|:heavy_check_mark:|
-|G711 (PCMA, PCMU)||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#G711)|:heavy_check_mark:|
-|LPCM||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#LPCM)|:heavy_check_mark:|
+|format|documentation|encoder and decoder available|
+|------|-------------|-----------------------------|
+|Opus|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#Opus)|:heavy_check_mark:|
+|Vorbis|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#Vorbis)||
+|MPEG-4 Audio (AAC)|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG4Audio)|:heavy_check_mark:|
+|MPEG-1/2 Audio (MP3)|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEG1Audio)|:heavy_check_mark:|
+|AC-3|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#AC3)|:heavy_check_mark:|
+|Speex|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#Speex)||
+|G726|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#G726)||
+|G722|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#G722)|:heavy_check_mark:|
+|G711 (PCMA, PCMU)|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#G711)|:heavy_check_mark:|
+|LPCM|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#LPCM)|:heavy_check_mark:|
 
 ### Other
 
-|format / codec|variant|documentation|encoder and decoder available|
-|--------------|-------|-------------|-----------------------------|
-|MPEG-TS||[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEGTS)||
+|format|documentation|encoder and decoder available|
+|------|-------------|-----------------------------|
+|MPEG-TS|[link](https://pkg.go.dev/github.com/bluenviron/gortsplib/v4/pkg/format#MPEGTS)||
 
 ## Specifications
 
diff --git a/pkg/format/format.go b/pkg/format/format.go
index de21927d..b0c67d90 100644
--- a/pkg/format/format.go
+++ b/pkg/format/format.go
@@ -92,11 +92,8 @@ func Unmarshal(mediaType string, payloadType uint8, rtpMap string, fmtp map[stri
 		case codec == "vorbis":
 			return &Vorbis{}
 
-		case codec == "mpeg4-generic":
-			return &MPEG4AudioGeneric{}
-
-		case codec == "mp4a-latm":
-			return &MPEG4AudioLATM{}
+		case codec == "mpeg4-generic", codec == "mp4a-latm":
+			return &MPEG4Audio{}
 
 		case payloadType == 14:
 			return &MPEG1Audio{}
diff --git a/pkg/format/format_test.go b/pkg/format/format_test.go
index fbf8d84d..7f6ffe1c 100644
--- a/pkg/format/format_test.go
+++ b/pkg/format/format_test.go
@@ -343,12 +343,13 @@ var casesFormat = []struct {
 			"object":           "2",
 			"config":           "400026203fc0",
 		},
-		&MPEG4AudioLATM{
+		&MPEG4Audio{
+			LATM:           true,
 			PayloadTyp:     96,
 			ProfileLevelID: 1,
 			Bitrate:        intPtr(64000),
 			CPresent:       false,
-			Config: &mpeg4audio.StreamMuxConfig{
+			StreamMuxConfig: &mpeg4audio.StreamMuxConfig{
 				Programs: []*mpeg4audio.StreamMuxConfigProgram{{
 					Layers: []*mpeg4audio.StreamMuxConfigLayer{{
 						AudioSpecificConfig: &mpeg4audio.Config{
@@ -382,12 +383,13 @@ var casesFormat = []struct {
 			"config":           "400026103fc0",
 			"sbr-enabled":      "1",
 		},
-		&MPEG4AudioLATM{
+		&MPEG4Audio{
+			LATM:           true,
 			PayloadTyp:     110,
 			ProfileLevelID: 15,
 			CPresent:       false,
 			SBREnabled:     boolPtr(true),
-			Config: &mpeg4audio.StreamMuxConfig{
+			StreamMuxConfig: &mpeg4audio.StreamMuxConfig{
 				Programs: []*mpeg4audio.StreamMuxConfigProgram{{
 					Layers: []*mpeg4audio.StreamMuxConfigLayer{{
 						AudioSpecificConfig: &mpeg4audio.Config{
@@ -421,13 +423,14 @@ var casesFormat = []struct {
 			"config":           "40005623101fe0",
 			"sbr-enabled":      "1",
 		},
-		&MPEG4AudioLATM{
+		&MPEG4Audio{
+			LATM:           true,
 			PayloadTyp:     110,
 			ProfileLevelID: 44,
 			CPresent:       false,
 			SBREnabled:     boolPtr(true),
 			Bitrate:        intPtr(64000),
-			Config: &mpeg4audio.StreamMuxConfig{
+			StreamMuxConfig: &mpeg4audio.StreamMuxConfig{
 				Programs: []*mpeg4audio.StreamMuxConfigProgram{{
 					Layers: []*mpeg4audio.StreamMuxConfigLayer{{
 						AudioSpecificConfig: &mpeg4audio.Config{
@@ -463,12 +466,13 @@ var casesFormat = []struct {
 			"cpresent":         "0",
 			"config":           "4001d613101fe0",
 		},
-		&MPEG4AudioLATM{
+		&MPEG4Audio{
+			LATM:           true,
 			PayloadTyp:     110,
 			ProfileLevelID: 48,
 			Bitrate:        intPtr(64000),
 			CPresent:       false,
-			Config: &mpeg4audio.StreamMuxConfig{
+			StreamMuxConfig: &mpeg4audio.StreamMuxConfig{
 				Programs: []*mpeg4audio.StreamMuxConfigProgram{{
 					Layers: []*mpeg4audio.StreamMuxConfigLayer{{
 						AudioSpecificConfig: &mpeg4audio.Config{
@@ -501,11 +505,12 @@ var casesFormat = []struct {
 			"cpresent": "0",
 			"config":   "40002310",
 		},
-		&MPEG4AudioLATM{
+		&MPEG4Audio{
+			LATM:           true,
 			PayloadTyp:     110,
 			ProfileLevelID: 30,
 			CPresent:       false,
-			Config: &mpeg4audio.StreamMuxConfig{
+			StreamMuxConfig: &mpeg4audio.StreamMuxConfig{
 				Programs: []*mpeg4audio.StreamMuxConfigProgram{{
 					Layers: []*mpeg4audio.StreamMuxConfigLayer{{
 						AudioSpecificConfig: &mpeg4audio.Config{
@@ -1141,7 +1146,7 @@ func FuzzUnmarshalLPCM(f *testing.F) {
 	})
 }
 
-func FuzzUnmarshalMPEG4VideoES(f *testing.F) {
+func FuzzUnmarshalMPEG4Video(f *testing.F) {
 	f.Fuzz(func(t *testing.T, a, b string) {
 		Unmarshal("video", 96, "MP4V-ES/90000", map[string]string{ //nolint:errcheck
 			"profile-level-id": a,
diff --git a/pkg/format/mpeg4_audio.go b/pkg/format/mpeg4_audio.go
new file mode 100644
index 00000000..633cc162
--- /dev/null
+++ b/pkg/format/mpeg4_audio.go
@@ -0,0 +1,332 @@
+package format
+
+import (
+	"encoding/hex"
+	"fmt"
+	"strconv"
+	"strings"
+
+	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
+	"github.com/pion/rtp"
+
+	"github.com/bluenviron/gortsplib/v4/pkg/format/rtpmpeg4audio"
+)
+
+// MPEG4Audio is a RTP format for a MPEG-4 Audio codec.
+// Specification: https://datatracker.ietf.org/doc/html/rfc3640
+// Specification: https://datatracker.ietf.org/doc/html/rfc6416#section-7.3
+type MPEG4Audio struct {
+	// payload type of packets.
+	PayloadTyp uint8
+
+	// use RFC6416 (LATM) instead of RFC3640 (generic).
+	LATM bool
+
+	// profile level ID.
+	ProfileLevelID int
+
+	// generic only
+	Config           *mpeg4audio.Config
+	SizeLength       int
+	IndexLength      int
+	IndexDeltaLength int
+
+	// LATM only
+	Bitrate         *int
+	CPresent        bool
+	StreamMuxConfig *mpeg4audio.StreamMuxConfig
+	SBREnabled      *bool
+}
+
+func (f *MPEG4Audio) unmarshal(ctx *unmarshalContext) error {
+	f.PayloadTyp = ctx.payloadType
+	f.LATM = (ctx.codec != "mpeg4-generic")
+
+	if !f.LATM {
+		for key, val := range ctx.fmtp {
+			switch key {
+			case "streamtype":
+				if val != "5" { // AudioStream in ISO 14496-1
+					return fmt.Errorf("streamtype of AAC must be 5")
+				}
+
+			case "mode":
+				if strings.ToLower(val) != "aac-hbr" {
+					return fmt.Errorf("unsupported AAC mode: %v", val)
+				}
+
+			case "profile-level-id":
+				tmp, err := strconv.ParseUint(val, 10, 31)
+				if err != nil {
+					return fmt.Errorf("invalid profile-level-id: %v", val)
+				}
+
+				f.ProfileLevelID = int(tmp)
+
+			case "config":
+				enc, err := hex.DecodeString(val)
+				if err != nil {
+					return fmt.Errorf("invalid AAC config: %v", val)
+				}
+
+				f.Config = &mpeg4audio.Config{}
+				err = f.Config.Unmarshal(enc)
+				if err != nil {
+					return fmt.Errorf("invalid AAC config: %v", val)
+				}
+
+			case "sizelength":
+				n, err := strconv.ParseUint(val, 10, 31)
+				if err != nil || n > 100 {
+					return fmt.Errorf("invalid AAC SizeLength: %v", val)
+				}
+				f.SizeLength = int(n)
+
+			case "indexlength":
+				n, err := strconv.ParseUint(val, 10, 31)
+				if err != nil || n > 100 {
+					return fmt.Errorf("invalid AAC IndexLength: %v", val)
+				}
+				f.IndexLength = int(n)
+
+			case "indexdeltalength":
+				n, err := strconv.ParseUint(val, 10, 31)
+				if err != nil || n > 100 {
+					return fmt.Errorf("invalid AAC IndexDeltaLength: %v", val)
+				}
+				f.IndexDeltaLength = int(n)
+			}
+		}
+
+		if f.Config == nil {
+			return fmt.Errorf("config is missing")
+		}
+
+		if f.SizeLength == 0 {
+			return fmt.Errorf("sizelength is missing")
+		}
+	} else {
+		// default value set by specification
+		f.ProfileLevelID = 30
+		f.CPresent = true
+
+		for key, val := range ctx.fmtp {
+			switch key {
+			case "profile-level-id":
+				tmp, err := strconv.ParseUint(val, 10, 31)
+				if err != nil {
+					return fmt.Errorf("invalid profile-level-id: %v", val)
+				}
+
+				f.ProfileLevelID = int(tmp)
+
+			case "bitrate":
+				tmp, err := strconv.ParseUint(val, 10, 31)
+				if err != nil {
+					return fmt.Errorf("invalid bitrate: %v", val)
+				}
+
+				v := int(tmp)
+				f.Bitrate = &v
+
+			case "cpresent":
+				f.CPresent = (val == "1")
+
+			case "config":
+				enc, err := hex.DecodeString(val)
+				if err != nil {
+					return fmt.Errorf("invalid AAC config: %v", val)
+				}
+
+				f.StreamMuxConfig = &mpeg4audio.StreamMuxConfig{}
+				err = f.StreamMuxConfig.Unmarshal(enc)
+				if err != nil {
+					return fmt.Errorf("invalid AAC config: %v", err)
+				}
+
+			case "sbr-enabled":
+				v := (val == "1")
+				f.SBREnabled = &v
+			}
+		}
+
+		if f.CPresent {
+			if f.StreamMuxConfig != nil {
+				return fmt.Errorf("config and cpresent can't be used at the same time")
+			}
+		} else {
+			if f.StreamMuxConfig == nil {
+				return fmt.Errorf("config is missing")
+			}
+		}
+	}
+
+	return nil
+}
+
+// Codec implements Format.
+func (f *MPEG4Audio) Codec() string {
+	return "MPEG-4 Audio"
+}
+
+// ClockRate implements Format.
+func (f *MPEG4Audio) ClockRate() int {
+	if !f.LATM {
+		return f.Config.SampleRate
+	}
+	return f.StreamMuxConfig.Programs[0].Layers[0].AudioSpecificConfig.SampleRate
+}
+
+// PayloadType implements Format.
+func (f *MPEG4Audio) PayloadType() uint8 {
+	return f.PayloadTyp
+}
+
+// RTPMap implements Format.
+func (f *MPEG4Audio) RTPMap() string {
+	if !f.LATM {
+		sampleRate := f.Config.SampleRate
+		if f.Config.ExtensionSampleRate != 0 {
+			sampleRate = f.Config.ExtensionSampleRate
+		}
+
+		channelCount := f.Config.ChannelCount
+		if f.Config.ExtensionType == mpeg4audio.ObjectTypePS {
+			channelCount = 2
+		}
+
+		return "mpeg4-generic/" + strconv.FormatInt(int64(sampleRate), 10) +
+			"/" + strconv.FormatInt(int64(channelCount), 10)
+	}
+
+	aoc := f.StreamMuxConfig.Programs[0].Layers[0].AudioSpecificConfig
+
+	sampleRate := aoc.SampleRate
+	if aoc.ExtensionSampleRate != 0 {
+		sampleRate = aoc.ExtensionSampleRate
+	}
+
+	channelCount := aoc.ChannelCount
+	if aoc.ExtensionType == mpeg4audio.ObjectTypePS {
+		channelCount = 2
+	}
+
+	return "MP4A-LATM/" + strconv.FormatInt(int64(sampleRate), 10) +
+		"/" + strconv.FormatInt(int64(channelCount), 10)
+}
+
+// FMTP implements Format.
+func (f *MPEG4Audio) FMTP() map[string]string {
+	if !f.LATM {
+		enc, err := f.Config.Marshal()
+		if err != nil {
+			return nil
+		}
+
+		profileLevelID := f.ProfileLevelID
+		if profileLevelID == 0 { // support legacy definition which didn't include profile-level-id
+			profileLevelID = 1
+		}
+
+		fmtp := map[string]string{
+			"streamtype":       "5",
+			"mode":             "AAC-hbr",
+			"profile-level-id": strconv.FormatInt(int64(profileLevelID), 10),
+		}
+
+		if f.SizeLength > 0 {
+			fmtp["sizelength"] = strconv.FormatInt(int64(f.SizeLength), 10)
+		}
+
+		if f.IndexLength > 0 {
+			fmtp["indexlength"] = strconv.FormatInt(int64(f.IndexLength), 10)
+		}
+
+		if f.IndexDeltaLength > 0 {
+			fmtp["indexdeltalength"] = strconv.FormatInt(int64(f.IndexDeltaLength), 10)
+		}
+
+		fmtp["config"] = hex.EncodeToString(enc)
+
+		return fmtp
+	}
+
+	enc, err := f.StreamMuxConfig.Marshal()
+	if err != nil {
+		return nil
+	}
+
+	fmtp := map[string]string{
+		"profile-level-id": strconv.FormatInt(int64(f.ProfileLevelID), 10),
+		"config":           hex.EncodeToString(enc),
+		"object":           strconv.FormatInt(int64(f.StreamMuxConfig.Programs[0].Layers[0].AudioSpecificConfig.Type), 10),
+	}
+
+	if f.Bitrate != nil {
+		fmtp["bitrate"] = strconv.FormatInt(int64(*f.Bitrate), 10)
+	}
+
+	if f.CPresent {
+		fmtp["cpresent"] = "1"
+	} else {
+		fmtp["cpresent"] = "0"
+	}
+
+	if f.SBREnabled != nil {
+		if *f.SBREnabled {
+			fmtp["SBR-enabled"] = "1"
+		} else {
+			fmtp["SBR-enabled"] = "0"
+		}
+	}
+
+	return fmtp
+}
+
+// PTSEqualsDTS implements Format.
+func (f *MPEG4Audio) PTSEqualsDTS(*rtp.Packet) bool {
+	return true
+}
+
+// CreateDecoder creates a decoder able to decode the content of the format.
+func (f *MPEG4Audio) CreateDecoder() (*rtpmpeg4audio.Decoder, error) {
+	d := &rtpmpeg4audio.Decoder{
+		LATM:             f.LATM,
+		SizeLength:       f.SizeLength,
+		IndexLength:      f.IndexLength,
+		IndexDeltaLength: f.IndexDeltaLength,
+	}
+
+	err := d.Init()
+	if err != nil {
+		return nil, err
+	}
+
+	return d, nil
+}
+
+// CreateEncoder creates an encoder able to encode the content of the format.
+func (f *MPEG4Audio) CreateEncoder() (*rtpmpeg4audio.Encoder, error) {
+	e := &rtpmpeg4audio.Encoder{
+		LATM:             f.LATM,
+		PayloadType:      f.PayloadTyp,
+		SizeLength:       f.SizeLength,
+		IndexLength:      f.IndexLength,
+		IndexDeltaLength: f.IndexDeltaLength,
+	}
+
+	err := e.Init()
+	if err != nil {
+		return nil, err
+	}
+
+	return e, nil
+}
+
+// GetConfig returns the MPEG-4 Audio configuration.
+func (f *MPEG4Audio) GetConfig() *mpeg4audio.Config {
+	if !f.LATM {
+		return f.Config
+	}
+	return f.StreamMuxConfig.Programs[0].Layers[0].AudioSpecificConfig
+}
diff --git a/pkg/format/mpeg4_audio_generic.go b/pkg/format/mpeg4_audio_generic.go
deleted file mode 100644
index 421022d9..00000000
--- a/pkg/format/mpeg4_audio_generic.go
+++ /dev/null
@@ -1,200 +0,0 @@
-package format
-
-import (
-	"encoding/hex"
-	"fmt"
-	"strconv"
-	"strings"
-
-	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
-	"github.com/pion/rtp"
-
-	"github.com/bluenviron/gortsplib/v4/pkg/format/rtpmpeg4audio"
-)
-
-// MPEG4Audio is an alias for MPEG4AudioGeneric.
-type MPEG4Audio = MPEG4AudioGeneric
-
-// MPEG4AudioGeneric is a RTP format for a MPEG-4 Audio codec.
-// Specification: https://datatracker.ietf.org/doc/html/rfc3640
-type MPEG4AudioGeneric struct {
-	PayloadTyp       uint8
-	ProfileLevelID   int
-	Config           *mpeg4audio.Config
-	SizeLength       int
-	IndexLength      int
-	IndexDeltaLength int
-}
-
-func (f *MPEG4AudioGeneric) unmarshal(ctx *unmarshalContext) error {
-	f.PayloadTyp = ctx.payloadType
-
-	for key, val := range ctx.fmtp {
-		switch key {
-		case "streamtype":
-			if val != "5" { // AudioStream in ISO 14496-1
-				return fmt.Errorf("streamtype of AAC must be 5")
-			}
-
-		case "mode":
-			if strings.ToLower(val) != "aac-hbr" {
-				return fmt.Errorf("unsupported AAC mode: %v", val)
-			}
-
-		case "profile-level-id":
-			tmp, err := strconv.ParseUint(val, 10, 31)
-			if err != nil {
-				return fmt.Errorf("invalid profile-level-id: %v", val)
-			}
-
-			f.ProfileLevelID = int(tmp)
-
-		case "config":
-			enc, err := hex.DecodeString(val)
-			if err != nil {
-				return fmt.Errorf("invalid AAC config: %v", val)
-			}
-
-			f.Config = &mpeg4audio.Config{}
-			err = f.Config.Unmarshal(enc)
-			if err != nil {
-				return fmt.Errorf("invalid AAC config: %v", val)
-			}
-
-		case "sizelength":
-			n, err := strconv.ParseUint(val, 10, 31)
-			if err != nil || n > 100 {
-				return fmt.Errorf("invalid AAC SizeLength: %v", val)
-			}
-			f.SizeLength = int(n)
-
-		case "indexlength":
-			n, err := strconv.ParseUint(val, 10, 31)
-			if err != nil || n > 100 {
-				return fmt.Errorf("invalid AAC IndexLength: %v", val)
-			}
-			f.IndexLength = int(n)
-
-		case "indexdeltalength":
-			n, err := strconv.ParseUint(val, 10, 31)
-			if err != nil || n > 100 {
-				return fmt.Errorf("invalid AAC IndexDeltaLength: %v", val)
-			}
-			f.IndexDeltaLength = int(n)
-		}
-	}
-
-	if f.Config == nil {
-		return fmt.Errorf("config is missing")
-	}
-
-	if f.SizeLength == 0 {
-		return fmt.Errorf("sizelength is missing")
-	}
-
-	return nil
-}
-
-// Codec implements Format.
-func (f *MPEG4AudioGeneric) Codec() string {
-	return "MPEG-4 Audio"
-}
-
-// ClockRate implements Format.
-func (f *MPEG4AudioGeneric) ClockRate() int {
-	return f.Config.SampleRate
-}
-
-// PayloadType implements Format.
-func (f *MPEG4AudioGeneric) PayloadType() uint8 {
-	return f.PayloadTyp
-}
-
-// RTPMap implements Format.
-func (f *MPEG4AudioGeneric) RTPMap() string {
-	sampleRate := f.Config.SampleRate
-	if f.Config.ExtensionSampleRate != 0 {
-		sampleRate = f.Config.ExtensionSampleRate
-	}
-
-	channelCount := f.Config.ChannelCount
-	if f.Config.ExtensionType == mpeg4audio.ObjectTypePS {
-		channelCount = 2
-	}
-
-	return "mpeg4-generic/" + strconv.FormatInt(int64(sampleRate), 10) +
-		"/" + strconv.FormatInt(int64(channelCount), 10)
-}
-
-// FMTP implements Format.
-func (f *MPEG4AudioGeneric) FMTP() map[string]string {
-	enc, err := f.Config.Marshal()
-	if err != nil {
-		return nil
-	}
-
-	profileLevelID := f.ProfileLevelID
-	if profileLevelID == 0 { // support legacy definition which didn't include profile-level-id
-		profileLevelID = 1
-	}
-
-	fmtp := map[string]string{
-		"streamtype":       "5",
-		"mode":             "AAC-hbr",
-		"profile-level-id": strconv.FormatInt(int64(profileLevelID), 10),
-	}
-
-	if f.SizeLength > 0 {
-		fmtp["sizelength"] = strconv.FormatInt(int64(f.SizeLength), 10)
-	}
-
-	if f.IndexLength > 0 {
-		fmtp["indexlength"] = strconv.FormatInt(int64(f.IndexLength), 10)
-	}
-
-	if f.IndexDeltaLength > 0 {
-		fmtp["indexdeltalength"] = strconv.FormatInt(int64(f.IndexDeltaLength), 10)
-	}
-
-	fmtp["config"] = hex.EncodeToString(enc)
-
-	return fmtp
-}
-
-// PTSEqualsDTS implements Format.
-func (f *MPEG4AudioGeneric) PTSEqualsDTS(*rtp.Packet) bool {
-	return true
-}
-
-// CreateDecoder creates a decoder able to decode the content of the format.
-func (f *MPEG4AudioGeneric) CreateDecoder() (*rtpmpeg4audio.Decoder, error) {
-	d := &rtpmpeg4audio.Decoder{
-		SizeLength:       f.SizeLength,
-		IndexLength:      f.IndexLength,
-		IndexDeltaLength: f.IndexDeltaLength,
-	}
-
-	err := d.Init()
-	if err != nil {
-		return nil, err
-	}
-
-	return d, nil
-}
-
-// CreateEncoder creates an encoder able to encode the content of the format.
-func (f *MPEG4AudioGeneric) CreateEncoder() (*rtpmpeg4audio.Encoder, error) {
-	e := &rtpmpeg4audio.Encoder{
-		PayloadType:      f.PayloadTyp,
-		SizeLength:       f.SizeLength,
-		IndexLength:      f.IndexLength,
-		IndexDeltaLength: f.IndexDeltaLength,
-	}
-
-	err := e.Init()
-	if err != nil {
-		return nil, err
-	}
-
-	return e, nil
-}
diff --git a/pkg/format/mpeg4_audio_generic_test.go b/pkg/format/mpeg4_audio_generic_test.go
deleted file mode 100644
index 5819833e..00000000
--- a/pkg/format/mpeg4_audio_generic_test.go
+++ /dev/null
@@ -1,55 +0,0 @@
-package format
-
-import (
-	"testing"
-
-	"github.com/pion/rtp"
-	"github.com/stretchr/testify/require"
-
-	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
-)
-
-func TestMPEG4AudioGenericAttributes(t *testing.T) {
-	format := &MPEG4AudioGeneric{
-		PayloadTyp: 96,
-		Config: &mpeg4audio.Config{
-			Type:         mpeg4audio.ObjectTypeAACLC,
-			SampleRate:   48000,
-			ChannelCount: 2,
-		},
-		SizeLength:       13,
-		IndexLength:      3,
-		IndexDeltaLength: 3,
-	}
-	require.Equal(t, "MPEG-4 Audio", format.Codec())
-	require.Equal(t, 48000, format.ClockRate())
-	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
-}
-
-func TestMPEG4AudioGenericDecEncoder(t *testing.T) {
-	format := &MPEG4AudioGeneric{
-		PayloadTyp: 96,
-		Config: &mpeg4audio.Config{
-			Type:         mpeg4audio.ObjectTypeAACLC,
-			SampleRate:   48000,
-			ChannelCount: 2,
-		},
-		SizeLength:       13,
-		IndexLength:      3,
-		IndexDeltaLength: 3,
-	}
-
-	enc, err := format.CreateEncoder()
-	require.NoError(t, err)
-
-	pkts, err := enc.Encode([][]byte{{0x01, 0x02, 0x03, 0x04}})
-	require.NoError(t, err)
-	require.Equal(t, format.PayloadType(), pkts[0].PayloadType)
-
-	dec, err := format.CreateDecoder()
-	require.NoError(t, err)
-
-	byts, err := dec.Decode(pkts[0])
-	require.NoError(t, err)
-	require.Equal(t, [][]byte{{0x01, 0x02, 0x03, 0x04}}, byts)
-}
diff --git a/pkg/format/mpeg4_audio_latm.go b/pkg/format/mpeg4_audio_latm.go
deleted file mode 100644
index 7ddce528..00000000
--- a/pkg/format/mpeg4_audio_latm.go
+++ /dev/null
@@ -1,181 +0,0 @@
-package format
-
-import (
-	"encoding/hex"
-	"fmt"
-	"strconv"
-
-	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
-	"github.com/pion/rtp"
-
-	"github.com/bluenviron/gortsplib/v4/pkg/format/rtpmpeg4audiolatm"
-)
-
-// MPEG4AudioLATM is a RTP format for a MPEG-4 Audio codec.
-// Specification: https://datatracker.ietf.org/doc/html/rfc6416#section-7.3
-type MPEG4AudioLATM struct {
-	PayloadTyp     uint8
-	ProfileLevelID int
-	Bitrate        *int
-	CPresent       bool
-	Config         *mpeg4audio.StreamMuxConfig
-	SBREnabled     *bool
-}
-
-func (f *MPEG4AudioLATM) unmarshal(ctx *unmarshalContext) error {
-	f.PayloadTyp = ctx.payloadType
-
-	// default value set by specification
-	f.ProfileLevelID = 30
-	f.CPresent = true
-
-	for key, val := range ctx.fmtp {
-		switch key {
-		case "profile-level-id":
-			tmp, err := strconv.ParseUint(val, 10, 31)
-			if err != nil {
-				return fmt.Errorf("invalid profile-level-id: %v", val)
-			}
-
-			f.ProfileLevelID = int(tmp)
-
-		case "bitrate":
-			tmp, err := strconv.ParseUint(val, 10, 31)
-			if err != nil {
-				return fmt.Errorf("invalid bitrate: %v", val)
-			}
-
-			v := int(tmp)
-			f.Bitrate = &v
-
-		case "cpresent":
-			f.CPresent = (val == "1")
-
-		case "config":
-			enc, err := hex.DecodeString(val)
-			if err != nil {
-				return fmt.Errorf("invalid AAC config: %v", val)
-			}
-
-			f.Config = &mpeg4audio.StreamMuxConfig{}
-			err = f.Config.Unmarshal(enc)
-			if err != nil {
-				return fmt.Errorf("invalid AAC config: %v", err)
-			}
-
-		case "sbr-enabled":
-			v := (val == "1")
-			f.SBREnabled = &v
-		}
-	}
-
-	if f.CPresent {
-		if f.Config != nil {
-			return fmt.Errorf("config and cpresent can't be used at the same time")
-		}
-	} else {
-		if f.Config == nil {
-			return fmt.Errorf("config is missing")
-		}
-	}
-
-	return nil
-}
-
-// Codec implements Format.
-func (f *MPEG4AudioLATM) Codec() string {
-	return "MPEG-4 Audio"
-}
-
-// ClockRate implements Format.
-func (f *MPEG4AudioLATM) ClockRate() int {
-	return f.Config.Programs[0].Layers[0].AudioSpecificConfig.SampleRate
-}
-
-// PayloadType implements Format.
-func (f *MPEG4AudioLATM) PayloadType() uint8 {
-	return f.PayloadTyp
-}
-
-// RTPMap implements Format.
-func (f *MPEG4AudioLATM) RTPMap() string {
-	aoc := f.Config.Programs[0].Layers[0].AudioSpecificConfig
-
-	sampleRate := aoc.SampleRate
-	if aoc.ExtensionSampleRate != 0 {
-		sampleRate = aoc.ExtensionSampleRate
-	}
-
-	channelCount := aoc.ChannelCount
-	if aoc.ExtensionType == mpeg4audio.ObjectTypePS {
-		channelCount = 2
-	}
-
-	return "MP4A-LATM/" + strconv.FormatInt(int64(sampleRate), 10) +
-		"/" + strconv.FormatInt(int64(channelCount), 10)
-}
-
-// FMTP implements Format.
-func (f *MPEG4AudioLATM) FMTP() map[string]string {
-	enc, err := f.Config.Marshal()
-	if err != nil {
-		return nil
-	}
-
-	fmtp := map[string]string{
-		"profile-level-id": strconv.FormatInt(int64(f.ProfileLevelID), 10),
-		"config":           hex.EncodeToString(enc),
-		"object":           strconv.FormatInt(int64(f.Config.Programs[0].Layers[0].AudioSpecificConfig.Type), 10),
-	}
-
-	if f.Bitrate != nil {
-		fmtp["bitrate"] = strconv.FormatInt(int64(*f.Bitrate), 10)
-	}
-
-	if f.CPresent {
-		fmtp["cpresent"] = "1"
-	} else {
-		fmtp["cpresent"] = "0"
-	}
-
-	if f.SBREnabled != nil {
-		if *f.SBREnabled {
-			fmtp["SBR-enabled"] = "1"
-		} else {
-			fmtp["SBR-enabled"] = "0"
-		}
-	}
-
-	return fmtp
-}
-
-// PTSEqualsDTS implements Format.
-func (f *MPEG4AudioLATM) PTSEqualsDTS(*rtp.Packet) bool {
-	return true
-}
-
-// CreateDecoder creates a decoder able to decode the content of the format.
-func (f *MPEG4AudioLATM) CreateDecoder() (*rtpmpeg4audiolatm.Decoder, error) {
-	d := &rtpmpeg4audiolatm.Decoder{}
-
-	err := d.Init()
-	if err != nil {
-		return nil, err
-	}
-
-	return d, nil
-}
-
-// CreateEncoder creates an encoder able to encode the content of the format.
-func (f *MPEG4AudioLATM) CreateEncoder() (*rtpmpeg4audiolatm.Encoder, error) {
-	e := &rtpmpeg4audiolatm.Encoder{
-		PayloadType: f.PayloadTyp,
-	}
-
-	err := e.Init()
-	if err != nil {
-		return nil, err
-	}
-
-	return e, nil
-}
diff --git a/pkg/format/mpeg4_audio_latm_test.go b/pkg/format/mpeg4_audio_latm_test.go
deleted file mode 100644
index c6c906f3..00000000
--- a/pkg/format/mpeg4_audio_latm_test.go
+++ /dev/null
@@ -1,64 +0,0 @@
-package format
-
-import (
-	"testing"
-
-	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
-	"github.com/pion/rtp"
-	"github.com/stretchr/testify/require"
-)
-
-func TestMPEG4AudioLATMAttributes(t *testing.T) {
-	format := &MPEG4AudioLATM{
-		PayloadTyp:     96,
-		ProfileLevelID: 1,
-		Config: &mpeg4audio.StreamMuxConfig{
-			Programs: []*mpeg4audio.StreamMuxConfigProgram{{
-				Layers: []*mpeg4audio.StreamMuxConfigLayer{{
-					AudioSpecificConfig: &mpeg4audio.Config{
-						Type:         2,
-						SampleRate:   44100,
-						ChannelCount: 2,
-					},
-					LatmBufferFullness: 255,
-				}},
-			}},
-		},
-	}
-	require.Equal(t, "MPEG-4 Audio", format.Codec())
-	require.Equal(t, 44100, format.ClockRate())
-	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
-}
-
-func TestMPEG4AudioLATMDecEncoder(t *testing.T) {
-	format := &MPEG4AudioLATM{
-		PayloadTyp:     96,
-		ProfileLevelID: 1,
-		Config: &mpeg4audio.StreamMuxConfig{
-			Programs: []*mpeg4audio.StreamMuxConfigProgram{{
-				Layers: []*mpeg4audio.StreamMuxConfigLayer{{
-					AudioSpecificConfig: &mpeg4audio.Config{
-						Type:         2,
-						SampleRate:   48000,
-						ChannelCount: 2,
-					},
-					LatmBufferFullness: 255,
-				}},
-			}},
-		},
-	}
-
-	enc, err := format.CreateEncoder()
-	require.NoError(t, err)
-
-	pkts, err := enc.Encode([]byte{0x01, 0x02, 0x03, 0x04})
-	require.NoError(t, err)
-	require.Equal(t, format.PayloadType(), pkts[0].PayloadType)
-
-	dec, err := format.CreateDecoder()
-	require.NoError(t, err)
-
-	byts, err := dec.Decode(pkts[0])
-	require.NoError(t, err)
-	require.Equal(t, []byte{0x01, 0x02, 0x03, 0x04}, byts)
-}
diff --git a/pkg/format/mpeg4_audio_test.go b/pkg/format/mpeg4_audio_test.go
new file mode 100644
index 00000000..da680b8c
--- /dev/null
+++ b/pkg/format/mpeg4_audio_test.go
@@ -0,0 +1,126 @@
+package format
+
+import (
+	"testing"
+
+	"github.com/pion/rtp"
+	"github.com/stretchr/testify/require"
+
+	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
+)
+
+func TestMPEG4AudioAttributes(t *testing.T) {
+	t.Run("generic", func(t *testing.T) {
+		format := &MPEG4Audio{
+			PayloadTyp: 96,
+			Config: &mpeg4audio.Config{
+				Type:         mpeg4audio.ObjectTypeAACLC,
+				SampleRate:   48000,
+				ChannelCount: 2,
+			},
+			SizeLength:       13,
+			IndexLength:      3,
+			IndexDeltaLength: 3,
+		}
+		require.Equal(t, "MPEG-4 Audio", format.Codec())
+		require.Equal(t, 48000, format.ClockRate())
+		require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
+		require.Equal(t, &mpeg4audio.Config{
+			Type:         mpeg4audio.ObjectTypeAACLC,
+			SampleRate:   48000,
+			ChannelCount: 2,
+		}, format.GetConfig())
+	})
+
+	t.Run("latm", func(t *testing.T) {
+		format := &MPEG4Audio{
+			LATM:           true,
+			PayloadTyp:     96,
+			ProfileLevelID: 1,
+			StreamMuxConfig: &mpeg4audio.StreamMuxConfig{
+				Programs: []*mpeg4audio.StreamMuxConfigProgram{{
+					Layers: []*mpeg4audio.StreamMuxConfigLayer{{
+						AudioSpecificConfig: &mpeg4audio.Config{
+							Type:         2,
+							SampleRate:   44100,
+							ChannelCount: 2,
+						},
+						LatmBufferFullness: 255,
+					}},
+				}},
+			},
+		}
+		require.Equal(t, "MPEG-4 Audio", format.Codec())
+		require.Equal(t, 44100, format.ClockRate())
+		require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
+		require.Equal(t, &mpeg4audio.Config{
+			Type:         2,
+			SampleRate:   44100,
+			ChannelCount: 2,
+		}, format.GetConfig())
+	})
+}
+
+func TestMPEG4AudioDecEncoder(t *testing.T) {
+	t.Run("generic", func(t *testing.T) {
+		format := &MPEG4Audio{
+			PayloadTyp: 96,
+			Config: &mpeg4audio.Config{
+				Type:         mpeg4audio.ObjectTypeAACLC,
+				SampleRate:   48000,
+				ChannelCount: 2,
+			},
+			SizeLength:       13,
+			IndexLength:      3,
+			IndexDeltaLength: 3,
+		}
+
+		enc, err := format.CreateEncoder()
+		require.NoError(t, err)
+
+		pkts, err := enc.Encode([][]byte{{0x01, 0x02, 0x03, 0x04}})
+		require.NoError(t, err)
+		require.Equal(t, format.PayloadType(), pkts[0].PayloadType)
+
+		dec, err := format.CreateDecoder()
+		require.NoError(t, err)
+
+		byts, err := dec.Decode(pkts[0])
+		require.NoError(t, err)
+		require.Equal(t, [][]byte{{0x01, 0x02, 0x03, 0x04}}, byts)
+	})
+
+	t.Run("latm", func(t *testing.T) {
+		format := &MPEG4Audio{
+			LATM:           true,
+			PayloadTyp:     96,
+			ProfileLevelID: 1,
+			StreamMuxConfig: &mpeg4audio.StreamMuxConfig{
+				Programs: []*mpeg4audio.StreamMuxConfigProgram{{
+					Layers: []*mpeg4audio.StreamMuxConfigLayer{{
+						AudioSpecificConfig: &mpeg4audio.Config{
+							Type:         2,
+							SampleRate:   48000,
+							ChannelCount: 2,
+						},
+						LatmBufferFullness: 255,
+					}},
+				}},
+			},
+		}
+
+		enc, err := format.CreateEncoder()
+		require.NoError(t, err)
+
+		pkts, err := enc.Encode([][]byte{{0x01, 0x02, 0x03, 0x04}})
+		require.NoError(t, err)
+		require.Equal(t, format.PayloadType(), pkts[0].PayloadType)
+
+		dec, err := format.CreateDecoder()
+		require.NoError(t, err)
+
+		byts, err := dec.Decode(pkts[0])
+		require.NoError(t, err)
+		require.Equal(t, [][]byte{{0x01, 0x02, 0x03, 0x04}}, byts)
+	})
+}
diff --git a/pkg/format/mpeg4_video_es.go b/pkg/format/mpeg4_video.go
similarity index 74%
rename from pkg/format/mpeg4_video_es.go
rename to pkg/format/mpeg4_video.go
index 14bc67ba..1b28c45c 100644
--- a/pkg/format/mpeg4_video_es.go
+++ b/pkg/format/mpeg4_video.go
@@ -13,12 +13,9 @@ import (
 	"github.com/bluenviron/gortsplib/v4/pkg/format/rtpmpeg4video"
 )
 
-// MPEG4Video is an alias for MPEG4VideoES.
-type MPEG4Video = MPEG4VideoES
-
-// MPEG4VideoES is a RTP format for a MPEG-4 Video codec.
+// MPEG4Video is a RTP format for a MPEG-4 Video codec.
 // Specification: https://datatracker.ietf.org/doc/html/rfc6416#section-7.1
-type MPEG4VideoES struct {
+type MPEG4Video struct {
 	PayloadTyp     uint8
 	ProfileLevelID int
 	Config         []byte
@@ -26,7 +23,7 @@ type MPEG4VideoES struct {
 	mutex sync.RWMutex
 }
 
-func (f *MPEG4VideoES) unmarshal(ctx *unmarshalContext) error {
+func (f *MPEG4Video) unmarshal(ctx *unmarshalContext) error {
 	f.PayloadTyp = ctx.payloadType
 	f.ProfileLevelID = 1 // default value imposed by specification
 
@@ -58,27 +55,27 @@ func (f *MPEG4VideoES) unmarshal(ctx *unmarshalContext) error {
 }
 
 // Codec implements Format.
-func (f *MPEG4VideoES) Codec() string {
+func (f *MPEG4Video) Codec() string {
 	return "MPEG-4 Video"
 }
 
 // ClockRate implements Format.
-func (f *MPEG4VideoES) ClockRate() int {
+func (f *MPEG4Video) ClockRate() int {
 	return 90000
 }
 
 // PayloadType implements Format.
-func (f *MPEG4VideoES) PayloadType() uint8 {
+func (f *MPEG4Video) PayloadType() uint8 {
 	return f.PayloadTyp
 }
 
 // RTPMap implements Format.
-func (f *MPEG4VideoES) RTPMap() string {
+func (f *MPEG4Video) RTPMap() string {
 	return "MP4V-ES/90000"
 }
 
 // FMTP implements Format.
-func (f *MPEG4VideoES) FMTP() map[string]string {
+func (f *MPEG4Video) FMTP() map[string]string {
 	fmtp := map[string]string{
 		"profile-level-id": strconv.FormatInt(int64(f.ProfileLevelID), 10),
 	}
@@ -91,12 +88,12 @@ func (f *MPEG4VideoES) FMTP() map[string]string {
 }
 
 // PTSEqualsDTS implements Format.
-func (f *MPEG4VideoES) PTSEqualsDTS(*rtp.Packet) bool {
+func (f *MPEG4Video) PTSEqualsDTS(*rtp.Packet) bool {
 	return true
 }
 
 // CreateDecoder creates a decoder able to decode the content of the format.
-func (f *MPEG4VideoES) CreateDecoder() (*rtpmpeg4video.Decoder, error) {
+func (f *MPEG4Video) CreateDecoder() (*rtpmpeg4video.Decoder, error) {
 	d := &rtpmpeg4video.Decoder{}
 
 	err := d.Init()
@@ -108,7 +105,7 @@ func (f *MPEG4VideoES) CreateDecoder() (*rtpmpeg4video.Decoder, error) {
 }
 
 // CreateEncoder creates an encoder able to encode the content of the format.
-func (f *MPEG4VideoES) CreateEncoder() (*rtpmpeg4video.Encoder, error) {
+func (f *MPEG4Video) CreateEncoder() (*rtpmpeg4video.Encoder, error) {
 	e := &rtpmpeg4video.Encoder{
 		PayloadType: f.PayloadTyp,
 	}
@@ -122,14 +119,14 @@ func (f *MPEG4VideoES) CreateEncoder() (*rtpmpeg4video.Encoder, error) {
 }
 
 // SafeSetParams sets the codec parameters.
-func (f *MPEG4VideoES) SafeSetParams(config []byte) {
+func (f *MPEG4Video) SafeSetParams(config []byte) {
 	f.mutex.Lock()
 	defer f.mutex.Unlock()
 	f.Config = config
 }
 
 // SafeParams returns the codec parameters.
-func (f *MPEG4VideoES) SafeParams() []byte {
+func (f *MPEG4Video) SafeParams() []byte {
 	f.mutex.RLock()
 	defer f.mutex.RUnlock()
 	return f.Config
diff --git a/pkg/format/mpeg4_video_generic.go b/pkg/format/mpeg4_video_generic.go
deleted file mode 100644
index 478f94ad..00000000
--- a/pkg/format/mpeg4_video_generic.go
+++ /dev/null
@@ -1,3 +0,0 @@
-package format
-
-// TODO
diff --git a/pkg/format/mpeg4_video_generic_test.go b/pkg/format/mpeg4_video_generic_test.go
deleted file mode 100644
index 478f94ad..00000000
--- a/pkg/format/mpeg4_video_generic_test.go
+++ /dev/null
@@ -1,3 +0,0 @@
-package format
-
-// TODO
diff --git a/pkg/format/mpeg4_video_es_test.go b/pkg/format/mpeg4_video_test.go
similarity index 83%
rename from pkg/format/mpeg4_video_es_test.go
rename to pkg/format/mpeg4_video_test.go
index abc15e8b..15df5428 100644
--- a/pkg/format/mpeg4_video_es_test.go
+++ b/pkg/format/mpeg4_video_test.go
@@ -7,8 +7,8 @@ import (
 	"github.com/stretchr/testify/require"
 )
 
-func TestMPEG4VideoESAttributes(t *testing.T) {
-	format := &MPEG4VideoES{
+func TestMPEG4VideoAttributes(t *testing.T) {
+	format := &MPEG4Video{
 		PayloadTyp:     96,
 		ProfileLevelID: 1,
 		Config:         []byte{0x01, 0x02, 0x03},
@@ -18,8 +18,8 @@ func TestMPEG4VideoESAttributes(t *testing.T) {
 	require.Equal(t, true, format.PTSEqualsDTS(&rtp.Packet{}))
 }
 
-func TestMPEG4VideoESDecEncoder(t *testing.T) {
-	format := &MPEG4VideoES{
+func TestMPEG4VideoDecEncoder(t *testing.T) {
+	format := &MPEG4Video{
 		PayloadTyp: 96,
 	}
 
diff --git a/pkg/format/rtpmpeg4audio/decoder.go b/pkg/format/rtpmpeg4audio/decoder.go
index 4ee73a17..7b20aee3 100644
--- a/pkg/format/rtpmpeg4audio/decoder.go
+++ b/pkg/format/rtpmpeg4audio/decoder.go
@@ -3,11 +3,54 @@ package rtpmpeg4audio
 import (
 	"errors"
 
-	"github.com/bluenviron/gortsplib/v4/pkg/format/rtpmpeg4audiogeneric"
+	"github.com/pion/rtp"
 )
 
-// ErrMorePacketsNeeded is an alis for rtpmpeg4audiogeneric.ErrMorePacketsNeeded.
+// ErrMorePacketsNeeded is returned when more packets are needed.
 var ErrMorePacketsNeeded = errors.New("need more packets")
 
-// Decoder is an alias for rtpmpeg4audiogeneric.Decoder.
-type Decoder = rtpmpeg4audiogeneric.Decoder
+func joinFragments(fragments [][]byte, size int) []byte {
+	ret := make([]byte, size)
+	n := 0
+	for _, p := range fragments {
+		n += copy(ret[n:], p)
+	}
+	return ret
+}
+
+// Decoder is a RTP/MPEG-4 Audio decoder.
+// Specification: https://datatracker.ietf.org/doc/html/rfc3640
+// Specification: https://datatracker.ietf.org/doc/html/rfc6416#section-7.3
+type Decoder struct {
+	// use RFC6416 (LATM) instead of RFC3640 (generic).
+	LATM bool
+
+	// Generic-only
+	// The number of bits in which the AU-size field is encoded in the AU-header.
+	SizeLength int
+	// The number of bits in which the AU-Index is encoded in the first AU-header.
+	IndexLength int
+	// The number of bits in which the AU-Index-delta field is encoded in any non-first AU-header.
+	IndexDeltaLength int
+
+	firstAUParsed     bool
+	adtsMode          bool
+	fragments         [][]byte
+	fragmentsSize     int
+	fragmentsExpected int
+}
+
+// Init initializes the decoder.
+func (d *Decoder) Init() error {
+	return nil
+}
+
+// Decode decodes AUs from a RTP packet.
+// It returns the AUs and the PTS of the first AU.
+// The PTS of subsequent AUs can be calculated by adding time.Second*mpeg4audio.SamplesPerAccessUnit/clockRate.
+func (d *Decoder) Decode(pkt *rtp.Packet) ([][]byte, error) {
+	if !d.LATM {
+		return d.decodeGeneric(pkt)
+	}
+	return d.decodeLATM(pkt)
+}
diff --git a/pkg/format/rtpmpeg4audiogeneric/decoder.go b/pkg/format/rtpmpeg4audio/decoder_generic.go
similarity index 77%
rename from pkg/format/rtpmpeg4audiogeneric/decoder.go
rename to pkg/format/rtpmpeg4audio/decoder_generic.go
index 8d0869a7..d40a4fc0 100644
--- a/pkg/format/rtpmpeg4audiogeneric/decoder.go
+++ b/pkg/format/rtpmpeg4audio/decoder_generic.go
@@ -1,7 +1,6 @@
-package rtpmpeg4audiogeneric
+package rtpmpeg4audio
 
 import (
-	"errors"
 	"fmt"
 
 	"github.com/bluenviron/mediacommon/pkg/bits"
@@ -9,45 +8,7 @@ import (
 	"github.com/pion/rtp"
 )
 
-// ErrMorePacketsNeeded is returned when more packets are needed.
-var ErrMorePacketsNeeded = errors.New("need more packets")
-
-func joinFragments(fragments [][]byte, size int) []byte {
-	ret := make([]byte, size)
-	n := 0
-	for _, p := range fragments {
-		n += copy(ret[n:], p)
-	}
-	return ret
-}
-
-// Decoder is a RTP/MPEG-4 Audio decoder.
-// Specification: https://datatracker.ietf.org/doc/html/rfc3640
-type Decoder struct {
-	// The number of bits in which the AU-size field is encoded in the AU-header.
-	SizeLength int
-
-	// The number of bits in which the AU-Index is encoded in the first AU-header.
-	IndexLength int
-
-	// The number of bits in which the AU-Index-delta field is encoded in any non-first AU-header.
-	IndexDeltaLength int
-
-	firstAUParsed bool
-	adtsMode      bool
-	fragments     [][]byte
-	fragmentsSize int
-}
-
-// Init initializes the decoder.
-func (d *Decoder) Init() error {
-	return nil
-}
-
-// Decode decodes AUs from a RTP packet.
-// It returns the AUs and the PTS of the first AU.
-// The PTS of subsequent AUs can be calculated by adding time.Second*mpeg4audio.SamplesPerAccessUnit/clockRate.
-func (d *Decoder) Decode(pkt *rtp.Packet) ([][]byte, error) {
+func (d *Decoder) decodeGeneric(pkt *rtp.Packet) ([][]byte, error) {
 	if len(pkt.Payload) < 2 {
 		d.fragments = d.fragments[:0] // discard pending fragments
 		return nil, fmt.Errorf("payload is too short")
@@ -130,12 +91,7 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([][]byte, error) {
 		d.fragments = d.fragments[:0]
 	}
 
-	aus, err = d.removeADTS(aus)
-	if err != nil {
-		return nil, err
-	}
-
-	return aus, nil
+	return d.removeADTS(aus)
 }
 
 func (d *Decoder) readAUHeaders(buf []byte, headersLen int) ([]uint64, error) {
diff --git a/pkg/format/rtpmpeg4audiogeneric/decoder_test.go b/pkg/format/rtpmpeg4audio/decoder_generic_test.go
similarity index 91%
rename from pkg/format/rtpmpeg4audiogeneric/decoder_test.go
rename to pkg/format/rtpmpeg4audio/decoder_generic_test.go
index 7b791963..fd8ccaab 100644
--- a/pkg/format/rtpmpeg4audiogeneric/decoder_test.go
+++ b/pkg/format/rtpmpeg4audio/decoder_generic_test.go
@@ -1,4 +1,4 @@
-package rtpmpeg4audiogeneric
+package rtpmpeg4audio
 
 import (
 	"testing"
@@ -7,8 +7,8 @@ import (
 	"github.com/stretchr/testify/require"
 )
 
-func TestDecode(t *testing.T) {
-	for _, ca := range cases {
+func TestDecodeGeneric(t *testing.T) {
+	for _, ca := range casesGeneric {
 		t.Run(ca.name, func(t *testing.T) {
 			d := &Decoder{
 				SizeLength:       ca.sizeLength,
@@ -41,7 +41,7 @@ func TestDecode(t *testing.T) {
 	}
 }
 
-func TestDecodeADTS(t *testing.T) {
+func TestDecodeGenericADTS(t *testing.T) {
 	d := &Decoder{
 		SizeLength:       13,
 		IndexLength:      3,
@@ -69,7 +69,7 @@ func TestDecodeADTS(t *testing.T) {
 	}
 }
 
-func FuzzDecoder(f *testing.F) {
+func FuzzDecoderGeneric(f *testing.F) {
 	f.Fuzz(func(t *testing.T, a []byte, am bool, b []byte, bm bool) {
 		d := &Decoder{
 			SizeLength:       13,
diff --git a/pkg/format/rtpmpeg4audiolatm/decoder.go b/pkg/format/rtpmpeg4audio/decoder_latm.go
similarity index 59%
rename from pkg/format/rtpmpeg4audiolatm/decoder.go
rename to pkg/format/rtpmpeg4audio/decoder_latm.go
index 31bf669d..3b092edd 100644
--- a/pkg/format/rtpmpeg4audiolatm/decoder.go
+++ b/pkg/format/rtpmpeg4audio/decoder_latm.go
@@ -1,41 +1,13 @@
-package rtpmpeg4audiolatm
+package rtpmpeg4audio
 
 import (
-	"errors"
 	"fmt"
 
 	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
 	"github.com/pion/rtp"
 )
 
-// ErrMorePacketsNeeded is returned when more packets are needed.
-var ErrMorePacketsNeeded = errors.New("need more packets")
-
-func joinFragments(fragments [][]byte, size int) []byte {
-	ret := make([]byte, size)
-	n := 0
-	for _, p := range fragments {
-		n += copy(ret[n:], p)
-	}
-	return ret
-}
-
-// Decoder is a RTP/MPEG-4 Audio decoder.
-// Specification: https://datatracker.ietf.org/doc/html/rfc6416#section-7.3
-type Decoder struct {
-	fragments         [][]byte
-	fragmentsSize     int
-	fragmentsExpected int
-}
-
-// Init initializes the decoder.
-func (d *Decoder) Init() error {
-	return nil
-}
-
-// Decode decodes an AU from a RTP packet.
-// It returns the AU and its PTS.
-func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
+func (d *Decoder) decodeLATM(pkt *rtp.Packet) ([][]byte, error) {
 	var au []byte
 	buf := pkt.Payload
 
@@ -79,5 +51,5 @@ func (d *Decoder) Decode(pkt *rtp.Packet) ([]byte, error) {
 		d.fragments = d.fragments[:0]
 	}
 
-	return au, nil
+	return [][]byte{au}, nil
 }
diff --git a/pkg/format/rtpmpeg4audiolatm/decoder_test.go b/pkg/format/rtpmpeg4audio/decoder_latm_test.go
similarity index 74%
rename from pkg/format/rtpmpeg4audiolatm/decoder_test.go
rename to pkg/format/rtpmpeg4audio/decoder_latm_test.go
index 21f8dcd1..e6f0d322 100644
--- a/pkg/format/rtpmpeg4audiolatm/decoder_test.go
+++ b/pkg/format/rtpmpeg4audio/decoder_latm_test.go
@@ -1,4 +1,4 @@
-package rtpmpeg4audiolatm
+package rtpmpeg4audio
 
 import (
 	"testing"
@@ -7,19 +7,21 @@ import (
 	"github.com/stretchr/testify/require"
 )
 
-func TestDecode(t *testing.T) {
-	for _, ca := range cases {
+func TestDecodeLATM(t *testing.T) {
+	for _, ca := range casesLATM {
 		t.Run(ca.name, func(t *testing.T) {
-			d := &Decoder{}
+			d := &Decoder{
+				LATM: true,
+			}
 			err := d.Init()
 			require.NoError(t, err)
 
-			var au []byte
+			var aus [][]byte
 
 			for _, pkt := range ca.pkts {
 				clone := pkt.Clone()
 
-				au, err = d.Decode(pkt)
+				aus, err = d.Decode(pkt)
 
 				// test input integrity
 				require.Equal(t, clone, pkt)
@@ -31,17 +33,19 @@ func TestDecode(t *testing.T) {
 				require.NoError(t, err)
 			}
 
-			require.Equal(t, ca.au, au)
+			require.Equal(t, ca.au, aus[0])
 		})
 	}
 }
 
-func TestDecodeOtherData(t *testing.T) {
-	d := &Decoder{}
+func TestDecodeLATMOtherData(t *testing.T) {
+	d := &Decoder{
+		LATM: true,
+	}
 	err := d.Init()
 	require.NoError(t, err)
 
-	au, err := d.Decode(&rtp.Packet{
+	aus, err := d.Decode(&rtp.Packet{
 		Header: rtp.Header{
 			Version:        2,
 			Marker:         true,
@@ -55,12 +59,14 @@ func TestDecodeOtherData(t *testing.T) {
 	})
 	require.NoError(t, err)
 
-	require.Equal(t, []byte{1, 2, 3, 4}, au)
+	require.Equal(t, []byte{1, 2, 3, 4}, aus[0])
 }
 
-func FuzzDecoder(f *testing.F) {
+func FuzzDecoderLATM(f *testing.F) {
 	f.Fuzz(func(t *testing.T, a []byte, am bool, b []byte, bm bool) {
-		d := &Decoder{}
+		d := &Decoder{
+			LATM: true,
+		}
 		d.Init() //nolint:errcheck
 
 		d.Decode(&rtp.Packet{ //nolint:errcheck
diff --git a/pkg/format/rtpmpeg4audio/encoder.go b/pkg/format/rtpmpeg4audio/encoder.go
index 57597cc1..b1f442cb 100644
--- a/pkg/format/rtpmpeg4audio/encoder.go
+++ b/pkg/format/rtpmpeg4audio/encoder.go
@@ -1,8 +1,88 @@
 package rtpmpeg4audio
 
 import (
-	"github.com/bluenviron/gortsplib/v4/pkg/format/rtpmpeg4audiogeneric"
+	"crypto/rand"
+
+	"github.com/pion/rtp"
 )
 
-// Encoder is an alias for rtpmpeg4audiogeneric.Encoder.
-type Encoder = rtpmpeg4audiogeneric.Encoder
+const (
+	rtpVersion            = 2
+	defaultPayloadMaxSize = 1460 // 1500 (UDP MTU) - 20 (IP header) - 8 (UDP header) - 12 (RTP header)
+)
+
+func randUint32() (uint32, error) {
+	var b [4]byte
+	_, err := rand.Read(b[:])
+	if err != nil {
+		return 0, err
+	}
+	return uint32(b[0])<<24 | uint32(b[1])<<16 | uint32(b[2])<<8 | uint32(b[3]), nil
+}
+
+// Encoder is a RTP/MPEG4-audio encoder.
+// Specification: https://datatracker.ietf.org/doc/html/rfc3640
+// Specification: https://datatracker.ietf.org/doc/html/rfc6416#section-7.3
+type Encoder struct {
+	// payload type of packets.
+	PayloadType uint8
+
+	// use RFC6416 (LATM) instead of RFC3640 (generic).
+	LATM bool
+
+	// The number of bits in which the AU-size field is encoded in the AU-header.
+	SizeLength int
+
+	// The number of bits in which the AU-Index is encoded in the first AU-header.
+	IndexLength int
+
+	// The number of bits in which the AU-Index-delta field is encoded in any non-first AU-header.
+	IndexDeltaLength int
+
+	// SSRC of packets (optional).
+	// It defaults to a random value.
+	SSRC *uint32
+
+	// initial sequence number of packets (optional).
+	// It defaults to a random value.
+	InitialSequenceNumber *uint16
+
+	// maximum size of packet payloads (optional).
+	// It defaults to 1460.
+	PayloadMaxSize int
+
+	sequenceNumber uint16
+}
+
+// Init initializes the encoder.
+func (e *Encoder) Init() error {
+	if e.SSRC == nil {
+		v, err := randUint32()
+		if err != nil {
+			return err
+		}
+		e.SSRC = &v
+	}
+	if e.InitialSequenceNumber == nil {
+		v, err := randUint32()
+		if err != nil {
+			return err
+		}
+		v2 := uint16(v)
+		e.InitialSequenceNumber = &v2
+	}
+	if e.PayloadMaxSize == 0 {
+		e.PayloadMaxSize = defaultPayloadMaxSize
+	}
+
+	e.sequenceNumber = *e.InitialSequenceNumber
+	return nil
+}
+
+// Encode encodes AUs into RTP packets.
+func (e *Encoder) Encode(aus [][]byte) ([]*rtp.Packet, error) {
+	if !e.LATM {
+		return e.encodeGeneric(aus)
+	}
+	return e.encodeLATM(aus)
+}
diff --git a/pkg/format/rtpmpeg4audiogeneric/encoder.go b/pkg/format/rtpmpeg4audio/encoder_generic.go
similarity index 56%
rename from pkg/format/rtpmpeg4audiogeneric/encoder.go
rename to pkg/format/rtpmpeg4audio/encoder_generic.go
index f9e9bbfa..bde46305 100644
--- a/pkg/format/rtpmpeg4audiogeneric/encoder.go
+++ b/pkg/format/rtpmpeg4audio/encoder_generic.go
@@ -1,29 +1,13 @@
-package rtpmpeg4audiogeneric
+package rtpmpeg4audio
 
 import (
-	"crypto/rand"
-
 	"github.com/pion/rtp"
 
 	"github.com/bluenviron/mediacommon/pkg/bits"
 	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
 )
 
-const (
-	rtpVersion            = 2
-	defaultPayloadMaxSize = 1460 // 1500 (UDP MTU) - 20 (IP header) - 8 (UDP header) - 12 (RTP header)
-)
-
-func randUint32() (uint32, error) {
-	var b [4]byte
-	_, err := rand.Read(b[:])
-	if err != nil {
-		return 0, err
-	}
-	return uint32(b[0])<<24 | uint32(b[1])<<16 | uint32(b[2])<<8 | uint32(b[3]), nil
-}
-
-func packetCount(avail, le int) int {
+func packetCountGeneric(avail, le int) int {
 	n := le / avail
 	if (le % avail) != 0 {
 		n++
@@ -31,76 +15,20 @@ func packetCount(avail, le int) int {
 	return n
 }
 
-// Encoder is a RTP/MPEG4-audio encoder.
-// Specification: https://datatracker.ietf.org/doc/html/rfc3640
-type Encoder struct {
-	// payload type of packets.
-	PayloadType uint8
-
-	// The number of bits in which the AU-size field is encoded in the AU-header.
-	SizeLength int
-
-	// The number of bits in which the AU-Index is encoded in the first AU-header.
-	IndexLength int
-
-	// The number of bits in which the AU-Index-delta field is encoded in any non-first AU-header.
-	IndexDeltaLength int
-
-	// SSRC of packets (optional).
-	// It defaults to a random value.
-	SSRC *uint32
-
-	// initial sequence number of packets (optional).
-	// It defaults to a random value.
-	InitialSequenceNumber *uint16
-
-	// maximum size of packet payloads (optional).
-	// It defaults to 1460.
-	PayloadMaxSize int
-
-	sequenceNumber uint16
-}
-
-// Init initializes the encoder.
-func (e *Encoder) Init() error {
-	if e.SSRC == nil {
-		v, err := randUint32()
-		if err != nil {
-			return err
-		}
-		e.SSRC = &v
-	}
-	if e.InitialSequenceNumber == nil {
-		v, err := randUint32()
-		if err != nil {
-			return err
-		}
-		v2 := uint16(v)
-		e.InitialSequenceNumber = &v2
-	}
-	if e.PayloadMaxSize == 0 {
-		e.PayloadMaxSize = defaultPayloadMaxSize
-	}
-
-	e.sequenceNumber = *e.InitialSequenceNumber
-	return nil
-}
-
-// Encode encodes AUs into RTP packets.
-func (e *Encoder) Encode(aus [][]byte) ([]*rtp.Packet, error) {
+func (e *Encoder) encodeGeneric(aus [][]byte) ([]*rtp.Packet, error) {
 	var rets []*rtp.Packet
 	var batch [][]byte
 	timestamp := uint32(0)
 
 	// split AUs into batches
 	for _, au := range aus {
-		if e.lenAggregated(batch, au) <= e.PayloadMaxSize {
+		if e.lenGenericAggregated(batch, au) <= e.PayloadMaxSize {
 			// add to existing batch
 			batch = append(batch, au)
 		} else {
 			// write current batch
 			if batch != nil {
-				pkts, err := e.writeBatch(batch, timestamp)
+				pkts, err := e.writeGenericBatch(batch, timestamp)
 				if err != nil {
 					return nil, err
 				}
@@ -114,7 +42,7 @@ func (e *Encoder) Encode(aus [][]byte) ([]*rtp.Packet, error) {
 	}
 
 	// write last batch
-	pkts, err := e.writeBatch(batch, timestamp)
+	pkts, err := e.writeGenericBatch(batch, timestamp)
 	if err != nil {
 		return nil, err
 	}
@@ -123,15 +51,15 @@ func (e *Encoder) Encode(aus [][]byte) ([]*rtp.Packet, error) {
 	return rets, nil
 }
 
-func (e *Encoder) writeBatch(aus [][]byte, timestamp uint32) ([]*rtp.Packet, error) {
-	if len(aus) != 1 || e.lenAggregated(aus, nil) < e.PayloadMaxSize {
-		return e.writeAggregated(aus, timestamp)
+func (e *Encoder) writeGenericBatch(aus [][]byte, timestamp uint32) ([]*rtp.Packet, error) {
+	if len(aus) != 1 || e.lenGenericAggregated(aus, nil) < e.PayloadMaxSize {
+		return e.writeGenericAggregated(aus, timestamp)
 	}
 
-	return e.writeFragmented(aus[0], timestamp)
+	return e.writeGenericFragmented(aus[0], timestamp)
 }
 
-func (e *Encoder) writeFragmented(au []byte, timestamp uint32) ([]*rtp.Packet, error) {
+func (e *Encoder) writeGenericFragmented(au []byte, timestamp uint32) ([]*rtp.Packet, error) {
 	auHeadersLen := e.SizeLength + e.IndexLength
 	auHeadersLenBytes := auHeadersLen / 8
 	if (auHeadersLen % 8) != 0 {
@@ -140,7 +68,7 @@ func (e *Encoder) writeFragmented(au []byte, timestamp uint32) ([]*rtp.Packet, e
 
 	avail := e.PayloadMaxSize - 2 - auHeadersLenBytes
 	le := len(au)
-	packetCount := packetCount(avail, le)
+	packetCount := packetCountGeneric(avail, le)
 
 	ret := make([]*rtp.Packet, packetCount)
 	le = avail
@@ -183,7 +111,7 @@ func (e *Encoder) writeFragmented(au []byte, timestamp uint32) ([]*rtp.Packet, e
 	return ret, nil
 }
 
-func (e *Encoder) lenAggregated(aus [][]byte, addAU []byte) int {
+func (e *Encoder) lenGenericAggregated(aus [][]byte, addAU []byte) int {
 	n := 2 // AU-headers-length
 
 	// AU-headers
@@ -218,8 +146,8 @@ func (e *Encoder) lenAggregated(aus [][]byte, addAU []byte) int {
 	return n
 }
 
-func (e *Encoder) writeAggregated(aus [][]byte, timestamp uint32) ([]*rtp.Packet, error) {
-	payload := make([]byte, e.lenAggregated(aus, nil))
+func (e *Encoder) writeGenericAggregated(aus [][]byte, timestamp uint32) ([]*rtp.Packet, error) {
+	payload := make([]byte, e.lenGenericAggregated(aus, nil))
 
 	// AU-headers
 	written := 0
diff --git a/pkg/format/rtpmpeg4audiogeneric/encoder_test.go b/pkg/format/rtpmpeg4audio/encoder_generic_test.go
similarity index 97%
rename from pkg/format/rtpmpeg4audiogeneric/encoder_test.go
rename to pkg/format/rtpmpeg4audio/encoder_generic_test.go
index 232d1876..c7a1af00 100644
--- a/pkg/format/rtpmpeg4audiogeneric/encoder_test.go
+++ b/pkg/format/rtpmpeg4audio/encoder_generic_test.go
@@ -1,4 +1,4 @@
-package rtpmpeg4audiogeneric
+package rtpmpeg4audio
 
 import (
 	"bytes"
@@ -32,7 +32,7 @@ func mergeBytes(vals ...[]byte) []byte {
 	return res
 }
 
-var cases = []struct {
+var casesGeneric = []struct {
 	name             string
 	sizeLength       int
 	indexLength      int
@@ -498,8 +498,8 @@ var cases = []struct {
 	},
 }
 
-func TestEncode(t *testing.T) {
-	for _, ca := range cases {
+func TestEncodeGeneric(t *testing.T) {
+	for _, ca := range casesGeneric {
 		t.Run(ca.name, func(t *testing.T) {
 			e := &Encoder{
 				PayloadType:           96,
@@ -518,16 +518,3 @@ func TestEncode(t *testing.T) {
 		})
 	}
 }
-
-func TestEncodeRandomInitialState(t *testing.T) {
-	e := &Encoder{
-		PayloadType:      96,
-		SizeLength:       13,
-		IndexLength:      3,
-		IndexDeltaLength: 3,
-	}
-	err := e.Init()
-	require.NoError(t, err)
-	require.NotEqual(t, nil, e.SSRC)
-	require.NotEqual(t, nil, e.InitialSequenceNumber)
-}
diff --git a/pkg/format/rtpmpeg4audio/encoder_latm.go b/pkg/format/rtpmpeg4audio/encoder_latm.go
new file mode 100644
index 00000000..7d07d58c
--- /dev/null
+++ b/pkg/format/rtpmpeg4audio/encoder_latm.go
@@ -0,0 +1,76 @@
+package rtpmpeg4audio
+
+import (
+	"github.com/pion/rtp"
+
+	"github.com/bluenviron/mediacommon/pkg/codecs/mpeg4audio"
+)
+
+func (e *Encoder) packetCountLATM(auLen int, plil int) int {
+	totalLen := plil + auLen
+	n := totalLen / e.PayloadMaxSize
+	if (totalLen % e.PayloadMaxSize) != 0 {
+		n++
+	}
+	return n
+}
+
+func (e *Encoder) encodeLATM(aus [][]byte) ([]*rtp.Packet, error) {
+	var rets []*rtp.Packet
+
+	for i, au := range aus {
+		timestamp := uint32(i) * mpeg4audio.SamplesPerAccessUnit
+
+		add, err := e.encodeLATMSingle(au, timestamp)
+		if err != nil {
+			return nil, err
+		}
+		rets = append(rets, add...)
+	}
+
+	return rets, nil
+}
+
+func (e *Encoder) encodeLATMSingle(au []byte, timestamp uint32) ([]*rtp.Packet, error) {
+	auLen := len(au)
+	plil := payloadLengthInfoEncodeSize(auLen)
+	packetCount := e.packetCountLATM(auLen, plil)
+
+	ret := make([]*rtp.Packet, packetCount)
+	le := e.PayloadMaxSize - plil
+
+	for i := range ret {
+		if i == (packetCount - 1) {
+			le = len(au)
+		}
+
+		var payload []byte
+
+		if i == 0 {
+			payload = make([]byte, plil+le)
+			payloadLengthInfoEncode(plil, auLen, payload)
+			copy(payload[plil:], au[:le])
+			au = au[le:]
+			le = e.PayloadMaxSize
+		} else {
+			payload = au[:le]
+			au = au[le:]
+		}
+
+		ret[i] = &rtp.Packet{
+			Header: rtp.Header{
+				Version:        rtpVersion,
+				PayloadType:    e.PayloadType,
+				SequenceNumber: e.sequenceNumber,
+				Timestamp:      timestamp,
+				SSRC:           *e.SSRC,
+				Marker:         (i == packetCount-1),
+			},
+			Payload: payload,
+		}
+
+		e.sequenceNumber++
+	}
+
+	return ret, nil
+}
diff --git a/pkg/format/rtpmpeg4audiolatm/encoder_test.go b/pkg/format/rtpmpeg4audio/encoder_latm_test.go
similarity index 78%
rename from pkg/format/rtpmpeg4audiolatm/encoder_test.go
rename to pkg/format/rtpmpeg4audio/encoder_latm_test.go
index 2e9103b6..4434beff 100644
--- a/pkg/format/rtpmpeg4audiolatm/encoder_test.go
+++ b/pkg/format/rtpmpeg4audio/encoder_latm_test.go
@@ -1,4 +1,4 @@
-package rtpmpeg4audiolatm
+package rtpmpeg4audio
 
 import (
 	"bytes"
@@ -8,31 +8,7 @@ import (
 	"github.com/stretchr/testify/require"
 )
 
-func uint16Ptr(v uint16) *uint16 {
-	return &v
-}
-
-func uint32Ptr(v uint32) *uint32 {
-	return &v
-}
-
-func mergeBytes(vals ...[]byte) []byte {
-	size := 0
-	for _, v := range vals {
-		size += len(v)
-	}
-	res := make([]byte, size)
-
-	pos := 0
-	for _, v := range vals {
-		n := copy(res[pos:], v)
-		pos += n
-	}
-
-	return res
-}
-
-var cases = []struct {
+var casesLATM = []struct {
 	name string
 	au   []byte
 	pkts []*rtp.Packet
@@ -137,10 +113,11 @@ var cases = []struct {
 	},
 }
 
-func TestEncode(t *testing.T) {
-	for _, ca := range cases {
+func TestEncodeLATM(t *testing.T) {
+	for _, ca := range casesLATM {
 		t.Run(ca.name, func(t *testing.T) {
 			e := &Encoder{
+				LATM:                  true,
 				PayloadType:           96,
 				SSRC:                  uint32Ptr(0x9dbb7812),
 				InitialSequenceNumber: uint16Ptr(0x44ed),
@@ -148,19 +125,9 @@ func TestEncode(t *testing.T) {
 			err := e.Init()
 			require.NoError(t, err)
 
-			pkts, err := e.Encode(ca.au)
+			pkts, err := e.Encode([][]byte{ca.au})
 			require.NoError(t, err)
 			require.Equal(t, ca.pkts, pkts)
 		})
 	}
 }
-
-func TestEncodeRandomInitialState(t *testing.T) {
-	e := &Encoder{
-		PayloadType: 96,
-	}
-	err := e.Init()
-	require.NoError(t, err)
-	require.NotEqual(t, nil, e.SSRC)
-	require.NotEqual(t, nil, e.InitialSequenceNumber)
-}
diff --git a/pkg/format/rtpmpeg4audio/encoder_test.go b/pkg/format/rtpmpeg4audio/encoder_test.go
new file mode 100644
index 00000000..6fa2ff0c
--- /dev/null
+++ b/pkg/format/rtpmpeg4audio/encoder_test.go
@@ -0,0 +1,20 @@
+package rtpmpeg4audio
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestEncodeRandomInitialState(t *testing.T) {
+	e := &Encoder{
+		PayloadType:      96,
+		SizeLength:       13,
+		IndexLength:      3,
+		IndexDeltaLength: 3,
+	}
+	err := e.Init()
+	require.NoError(t, err)
+	require.NotEqual(t, nil, e.SSRC)
+	require.NotEqual(t, nil, e.InitialSequenceNumber)
+}
diff --git a/pkg/format/rtpmpeg4audiolatm/payload_length_info.go b/pkg/format/rtpmpeg4audio/payload_length_info.go
similarity index 95%
rename from pkg/format/rtpmpeg4audiolatm/payload_length_info.go
rename to pkg/format/rtpmpeg4audio/payload_length_info.go
index 23542a1f..ab248a7a 100644
--- a/pkg/format/rtpmpeg4audiolatm/payload_length_info.go
+++ b/pkg/format/rtpmpeg4audio/payload_length_info.go
@@ -1,4 +1,4 @@
-package rtpmpeg4audiolatm
+package rtpmpeg4audio
 
 import (
 	"fmt"
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/0133a2a9bd638ceb b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/0133a2a9bd638ceb
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/0133a2a9bd638ceb
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/0133a2a9bd638ceb
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/079a435e5445c35b b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/079a435e5445c35b
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/079a435e5445c35b
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/079a435e5445c35b
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/571808e383aba6a5 b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/571808e383aba6a5
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/571808e383aba6a5
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/571808e383aba6a5
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/8f3e197fb87140b2 b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/8f3e197fb87140b2
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/8f3e197fb87140b2
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/8f3e197fb87140b2
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/9418bac23c1c4f72 b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/9418bac23c1c4f72
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/9418bac23c1c4f72
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/9418bac23c1c4f72
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/97f31764971cea9c b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/97f31764971cea9c
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/97f31764971cea9c
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/97f31764971cea9c
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/a68704dd42c38106 b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/a68704dd42c38106
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/a68704dd42c38106
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/a68704dd42c38106
diff --git a/pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/c7480ec341b553d6 b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/c7480ec341b553d6
similarity index 100%
rename from pkg/format/rtpmpeg4audiogeneric/testdata/fuzz/FuzzDecoder/c7480ec341b553d6
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderGeneric/c7480ec341b553d6
diff --git a/pkg/format/rtpmpeg4audiolatm/testdata/fuzz/FuzzDecoder/079a435e5445c35b b/pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderLATM/079a435e5445c35b
similarity index 100%
rename from pkg/format/rtpmpeg4audiolatm/testdata/fuzz/FuzzDecoder/079a435e5445c35b
rename to pkg/format/rtpmpeg4audio/testdata/fuzz/FuzzDecoderLATM/079a435e5445c35b
diff --git a/pkg/format/rtpmpeg4audiogeneric/rtpmpeg4audio_generic.go b/pkg/format/rtpmpeg4audiogeneric/rtpmpeg4audio_generic.go
deleted file mode 100644
index 4ae065fd..00000000
--- a/pkg/format/rtpmpeg4audiogeneric/rtpmpeg4audio_generic.go
+++ /dev/null
@@ -1,2 +0,0 @@
-// Package rtpmpeg4audiogeneric contains a RTP/MPEG-4 Audio decoder and encoder.
-package rtpmpeg4audiogeneric
diff --git a/pkg/format/rtpmpeg4audiolatm/encoder.go b/pkg/format/rtpmpeg4audiolatm/encoder.go
deleted file mode 100644
index 4308e042..00000000
--- a/pkg/format/rtpmpeg4audiolatm/encoder.go
+++ /dev/null
@@ -1,120 +0,0 @@
-package rtpmpeg4audiolatm
-
-import (
-	"crypto/rand"
-
-	"github.com/pion/rtp"
-)
-
-const (
-	rtpVersion            = 2
-	defaultPayloadMaxSize = 1460 // 1500 (UDP MTU) - 20 (IP header) - 8 (UDP header) - 12 (RTP header)
-)
-
-func randUint32() (uint32, error) {
-	var b [4]byte
-	_, err := rand.Read(b[:])
-	if err != nil {
-		return 0, err
-	}
-	return uint32(b[0])<<24 | uint32(b[1])<<16 | uint32(b[2])<<8 | uint32(b[3]), nil
-}
-
-// Encoder is a RTP/MPEG4-audio encoder.
-// Specification: https://datatracker.ietf.org/doc/html/rfc6416#section-7.3
-type Encoder struct {
-	// payload type of packets.
-	PayloadType uint8
-
-	// SSRC of packets (optional).
-	// It defaults to a random value.
-	SSRC *uint32
-
-	// initial sequence number of packets (optional).
-	// It defaults to a random value.
-	InitialSequenceNumber *uint16
-
-	// maximum size of packet payloads (optional).
-	// It defaults to 1460.
-	PayloadMaxSize int
-
-	sequenceNumber uint16
-}
-
-// Init initializes the encoder.
-func (e *Encoder) Init() error {
-	if e.SSRC == nil {
-		v, err := randUint32()
-		if err != nil {
-			return err
-		}
-		e.SSRC = &v
-	}
-	if e.InitialSequenceNumber == nil {
-		v, err := randUint32()
-		if err != nil {
-			return err
-		}
-		v2 := uint16(v)
-		e.InitialSequenceNumber = &v2
-	}
-	if e.PayloadMaxSize == 0 {
-		e.PayloadMaxSize = defaultPayloadMaxSize
-	}
-
-	e.sequenceNumber = *e.InitialSequenceNumber
-	return nil
-}
-
-func (e *Encoder) packetCount(auLen int, plil int) int {
-	totalLen := plil + auLen
-	n := totalLen / e.PayloadMaxSize
-	if (totalLen % e.PayloadMaxSize) != 0 {
-		n++
-	}
-	return n
-}
-
-// Encode encodes an access unit into RTP packets.
-func (e *Encoder) Encode(au []byte) ([]*rtp.Packet, error) {
-	auLen := len(au)
-	plil := payloadLengthInfoEncodeSize(auLen)
-	packetCount := e.packetCount(auLen, plil)
-
-	ret := make([]*rtp.Packet, packetCount)
-	le := e.PayloadMaxSize - plil
-
-	for i := range ret {
-		if i == (packetCount - 1) {
-			le = len(au)
-		}
-
-		var payload []byte
-
-		if i == 0 {
-			payload = make([]byte, plil+le)
-			payloadLengthInfoEncode(plil, auLen, payload)
-			copy(payload[plil:], au[:le])
-			au = au[le:]
-			le = e.PayloadMaxSize
-		} else {
-			payload = au[:le]
-			au = au[le:]
-		}
-
-		ret[i] = &rtp.Packet{
-			Header: rtp.Header{
-				Version:        rtpVersion,
-				PayloadType:    e.PayloadType,
-				SequenceNumber: e.sequenceNumber,
-				SSRC:           *e.SSRC,
-				Marker:         (i == packetCount-1),
-			},
-			Payload: payload,
-		}
-
-		e.sequenceNumber++
-	}
-
-	return ret, nil
-}
diff --git a/pkg/format/rtpmpeg4audiolatm/rtpmpeg4audio_latm.go b/pkg/format/rtpmpeg4audiolatm/rtpmpeg4audio_latm.go
deleted file mode 100644
index 9521630a..00000000
--- a/pkg/format/rtpmpeg4audiolatm/rtpmpeg4audio_latm.go
+++ /dev/null
@@ -1,2 +0,0 @@
-// Package rtpmpeg4audiolatm contains a RTP/MPEG-4 Audio decoder and encoder.
-package rtpmpeg4audiolatm