diff --git a/internal/hls/muxer_ts_generator.go b/internal/hls/muxer_ts_generator.go
index ee37fb24..c00beacc 100644
--- a/internal/hls/muxer_ts_generator.go
+++ b/internal/hls/muxer_ts_generator.go
@@ -1,7 +1,6 @@
 package hls
 
 import (
-	"log"
 	"time"
 
 	"github.com/aler9/gortsplib"
@@ -16,6 +15,16 @@ const (
 	segmentMinAUCount = 100
 )
 
+func idrPresent(nalus [][]byte) bool {
+	for _, nalu := range nalus {
+		typ := h264.NALUType(nalu[0] & 0x1F)
+		if typ == h264.NALUTypeIDR {
+			return true
+		}
+	}
+	return false
+}
+
 type muxerTSGenerator struct {
 	hlsSegmentCount    int
 	hlsSegmentDuration time.Duration
@@ -31,7 +40,6 @@ type muxerTSGenerator struct {
 	audioAUCount   int
 	startPCR       time.Time
 	startPTS       time.Duration
-	segmentCounter int
 }
 
 func newMuxerTSGenerator(
@@ -54,52 +62,39 @@ func newMuxerTSGenerator(
 		writer:             newMuxerTSWriter(videoTrack, audioTrack),
 	}
 
-	m.currentSegment = newMuxerTSSegment(m.videoTrack, m.writer)
-
 	return m
 }
 
 func (m *muxerTSGenerator) writeH264(pts time.Duration, nalus [][]byte) error {
-	idrPresent := func() bool {
-		for _, nalu := range nalus {
-			typ := h264.NALUType(nalu[0] & 0x1F)
-			if typ == h264.NALUTypeIDR {
-				return true
-			}
+	idrPresent := idrPresent(nalus)
+
+	if m.currentSegment == nil {
+		// skip groups silently until we find one with a IDR
+		if !idrPresent {
+			return nil
 		}
-		return false
-	}()
 
-	// skip group silently until we find one with a IDR
-	if !m.currentSegment.firstPacketWritten && !idrPresent {
-		return nil
-	}
-
-	if !m.currentSegment.firstPacketWritten {
+		// create first segment
+		m.currentSegment = newMuxerTSSegment(m.videoTrack, m.writer)
 		m.startPCR = time.Now()
 		m.startPTS = pts
 		m.videoDTSEst = h264.NewDTSEstimator()
-	}
+		pts = pcrOffset
+	} else {
+		pts = pts - m.startPTS + pcrOffset
 
-	dts := m.videoDTSEst.Feed(pts-m.startPTS) + pcrOffset
-	pts = pts - m.startPTS + pcrOffset
-
-	// switch segment or initialize the first segment
-	if m.currentSegment.firstPacketWritten {
+		// switch segment
 		if idrPresent &&
-			(pts-m.currentSegment.startPTS) >= m.hlsSegmentDuration {
+			m.currentSegment.startPTS != nil &&
+			(pts-*m.currentSegment.startPTS) >= m.hlsSegmentDuration {
 			m.currentSegment.endPTS = pts
 			m.streamPlaylist.pushSegment(m.currentSegment)
 			m.currentSegment = newMuxerTSSegment(m.videoTrack, m.writer)
-			m.segmentCounter = 0
-		} else {
-			m.segmentCounter++
-			if m.segmentCounter >= 500 {
-				log.Println("SC", m.segmentCounter)
-			}
 		}
 	}
 
+	dts := m.videoDTSEst.Feed(pts-m.startPTS) + pcrOffset
+
 	// prepend an AUD. This is required by video.js and iOS
 	filteredNALUs := [][]byte{
 		{byte(h264.NALUTypeAccessUnitDelimiter), 240},
@@ -129,18 +124,20 @@ func (m *muxerTSGenerator) writeH264(pts time.Duration, nalus [][]byte) error {
 }
 
 func (m *muxerTSGenerator) writeAAC(pts time.Duration, aus [][]byte) error {
-	if m.videoTrack == nil && !m.currentSegment.firstPacketWritten {
-		m.startPCR = time.Now()
-		m.startPTS = pts
-	}
-
-	pts = pts - m.startPTS + pcrOffset
-
-	// switch segment or initialize the first segment
 	if m.videoTrack == nil {
-		if m.currentSegment.firstPacketWritten {
+		if m.currentSegment == nil {
+			// create first segment
+			m.currentSegment = newMuxerTSSegment(m.videoTrack, m.writer)
+			m.startPCR = time.Now()
+			m.startPTS = pts
+			pts = pcrOffset
+		} else {
+			pts = pts - m.startPTS + pcrOffset
+
+			// switch segment
 			if m.audioAUCount >= segmentMinAUCount &&
-				(pts-m.currentSegment.startPTS) >= m.hlsSegmentDuration {
+				m.currentSegment.startPTS != nil &&
+				(pts-*m.currentSegment.startPTS) >= m.hlsSegmentDuration {
 				m.audioAUCount = 0
 				m.currentSegment.endPTS = pts
 				m.streamPlaylist.pushSegment(m.currentSegment)
@@ -148,9 +145,12 @@ func (m *muxerTSGenerator) writeAAC(pts time.Duration, aus [][]byte) error {
 			}
 		}
 	} else {
-		if !m.currentSegment.firstPacketWritten {
+		// wait for the video track
+		if m.currentSegment == nil {
 			return nil
 		}
+
+		pts = pts - m.startPTS + pcrOffset
 	}
 
 	pkts := make([]*aac.ADTSPacket, len(aus))
diff --git a/internal/hls/muxer_ts_segment.go b/internal/hls/muxer_ts_segment.go
index 1f2c8ba7..81e6faab 100644
--- a/internal/hls/muxer_ts_segment.go
+++ b/internal/hls/muxer_ts_segment.go
@@ -14,12 +14,11 @@ type muxerTSSegment struct {
 	videoTrack *gortsplib.Track
 	writer     *muxerTSWriter
 
-	name               string
-	buf                bytes.Buffer
-	firstPacketWritten bool
-	startPTS           time.Duration
-	endPTS             time.Duration
-	pcrSendCounter     int
+	name           string
+	buf            bytes.Buffer
+	startPTS       *time.Duration
+	endPTS         time.Duration
+	pcrSendCounter int
 }
 
 func newMuxerTSSegment(
@@ -43,7 +42,7 @@ func newMuxerTSSegment(
 }
 
 func (t *muxerTSSegment) duration() time.Duration {
-	return t.endPTS - t.startPTS
+	return t.endPTS - *t.startPTS
 }
 
 func (t *muxerTSSegment) write(p []byte) (int, error) {
@@ -60,9 +59,8 @@ func (t *muxerTSSegment) writeH264(
 	pts time.Duration,
 	idrPresent bool,
 	enc []byte) error {
-	if !t.firstPacketWritten {
-		t.firstPacketWritten = true
-		t.startPTS = pts
+	if t.startPTS == nil {
+		t.startPTS = &pts
 	}
 
 	var af *astits.PacketAdaptationField
@@ -116,11 +114,8 @@ func (t *muxerTSSegment) writeAAC(
 	startPCR time.Time,
 	pts time.Duration,
 	enc []byte) error {
-	if t.videoTrack == nil {
-		if !t.firstPacketWritten {
-			t.firstPacketWritten = true
-			t.startPTS = pts
-		}
+	if t.startPTS == nil {
+		t.startPTS = &pts
 	}
 
 	af := &astits.PacketAdaptationField{