v1.16.1

## Fixes and improvements

General

* fix typo in error message ('alwaysAvailableVideo' -> 'alwaysAvailableFile') (https://github.com/bluenviron/mediamtx/issues/5417)
* emit structured logs with nanosecond precision (https://github.com/bluenviron/mediamtx/issues/4924) (https://github.com/bluenviron/mediamtx/issues/5404)
* set default udpMaxPayloadSize to an IPv6 compatible value (https://github.com/bluenviron/mediamtx/issues/4882) (https://github.com/bluenviron/mediamtx/issues/5402) When using IPv6, there are 20 bytes less available for UDP payload, which has been adjusted accordingly.
* add authHTTPFingerprint (https://github.com/bluenviron/mediamtx/issues/5413) (https://github.com/bluenviron/mediamtx/issues/5422)
* add additional checks on always-available streams (https://github.com/bluenviron/mediamtx/issues/5408) make sure that published streams match MPEG-4 audio, G711 and LPCM parameters declared in configuration or used by the offline file.
* improve JSON error message (https://github.com/bluenviron/mediamtx/issues/5412) (https://github.com/bluenviron/mediamtx/issues/5433)
* pmp4: improve compatibility (https://github.com/bluenviron/mediamtx/issues/5423) (https://github.com/bluenviron/mediacommon/issues/298)

RTSP

* rtpreceiver: fix panic (https://github.com/bluenviron/gortsplib/issues/994)
* support Amatek AR-N3222F NVR (https://github.com/bluenviron/gortsplib/issues/989)
* rtpreceiver: fix TotalReceived computation (https://github.com/bluenviron/gortsplib/issues/995) one packet was missing.

RPI Camera

* fix unsetting rpiCameraAWBGains (https://github.com/bluenviron/mediamtx/issues/4935) (https://github.com/bluenviron/mediamtx-rpicamera/issues/85)

Dependencies

* code.cloudfoundry.org/bytefmt updated from v0.62.0 to v0.63.0
* github.com/alecthomas/kong updated from v1.13.0 to v1.14.0
* github.com/bluenviron/gortsplib/v5 updated from v5.3.0 to v5.3.1
* github.com/bluenviron/mediacommon/v2 updated from v2.7.0 to v2.7.1
* github.com/pion/interceptor updated from v0.1.43 to v0.1.44
* github.com/pion/rtp updated from v1.10.0 to v1.10.1
* github.com/bluenviron/mediamtx-rpicamera updated from v2.5.2 to v2.5.3

## Security

Binaries are compiled from source code by the [Release workflow](https://github.com/bluenviron/mediamtx/actions/workflows/release.yml) without human intervention.

You can verify that binaries have been produced by the workflow by using [GitHub Attestations](https://docs.github.com/en/actions/concepts/security/artifact-attestations):

```
ls mediamtx_* | xargs -L1 gh attestation verify --repo bluenviron/mediamtx
```

You can verify checksums of binaries by downloading `checksums.sha256` and running:

```
cat checksums.sha256 | grep "$(ls mediamtx_*)" | sha256sum --check
```