diff --git a/internal/ffmpeg/ffmpeg_test.go b/internal/ffmpeg/ffmpeg_test.go
index 2493bace..7fa3ebc8 100644
--- a/internal/ffmpeg/ffmpeg_test.go
+++ b/internal/ffmpeg/ffmpeg_test.go
@@ -163,7 +163,7 @@ func TestParseArgsHwRKMPP(t *testing.T) {
 	require.Equal(t, `ffmpeg -hide_banner -fflags nobuffer -flags low_delay -i http://example.com -c:v h264_rkmpp_encoder -g 50 -bf 0 -profile:v high -level:v 4.1 -an -vf "transpose=1,transpose=1" -user_agent ffmpeg/go2rtc -rtsp_transport tcp -f rtsp {output}`, args.String())
 
 	args = parseArgs("http://example.com#video=h264#height=320#hardware=rkmpp")
-	require.Equal(t, `ffmpeg -hide_banner -fflags nobuffer -flags low_delay -i http://example.com -c:v h264_rkmpp_encoder -g 50 -bf 0 -profile:v high -level:v 4.1 -an -vf "scale=-1:320" -user_agent ffmpeg/go2rtc -rtsp_transport tcp -f rtsp {output}`, args.String())
+	require.Equal(t, `ffmpeg -hide_banner -fflags nobuffer -flags low_delay -i http://example.com -c:v h264_rkmpp_encoder -g 50 -bf 0 -profile:v high -level:v 4.1 -height 320 -an -user_agent ffmpeg/go2rtc -rtsp_transport tcp -f rtsp {output}`, args.String())
 }
 
 func TestParseArgsHwCuda(t *testing.T) {
diff --git a/internal/ffmpeg/hardware/hardware.go b/internal/ffmpeg/hardware/hardware.go
index b75a3c73..ebbdc4fa 100644
--- a/internal/ffmpeg/hardware/hardware.go
+++ b/internal/ffmpeg/hardware/hardware.go
@@ -129,6 +129,21 @@ func MakeHardware(args *ffmpeg.Args, engine string, defaults map[string]string)
 
 		case EngineRKMPP:
 			args.Codecs[i] = defaults[name+"/"+engine]
+
+			for j, filter := range args.Filters {
+				if strings.HasPrefix(filter, "scale=") {
+					args.Filters = append(args.Filters[:j], args.Filters[j+1:]...)
+
+					width, height, _ := strings.Cut(filter[6:], ":")
+					if width != "-1" {
+						args.Codecs[i] += " -width " + width
+					}
+					if height != "-1" {
+						args.Codecs[i] += " -height " + height
+					}
+					break
+				}
+			}
 		}
 	}
 }
diff --git a/pkg/ffmpeg/ffmpeg.go b/pkg/ffmpeg/ffmpeg.go
index a24d9201..912e7684 100644
--- a/pkg/ffmpeg/ffmpeg.go
+++ b/pkg/ffmpeg/ffmpeg.go
@@ -74,7 +74,7 @@ func (a *Args) String() string {
 		b.WriteString(codec)
 	}
 
-	if a.Filters != nil {
+	if len(a.Filters) > 0 {
 		for i, filter := range a.Filters {
 			if i == 0 {
 				b.WriteString(` -vf "`)