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I need to convert audio inside video to 8 Bit signed PCM. I try it like this:

C:UsersEDesktopffmpeg-20160731-04da20e-win32-staticbin>ffmpeg -i minions.mp4 -vcodec mjpeg -s 800x480 -acodec pcm_s8 -ac 1 out.avi

output:

ffmpeg version N-81192-g04da20e Copyright (c) 2000-2016 the FFmpeg developers
 built with gcc 5.4.0 (GCC)
 configuration: --enable-gpl --enable-version3 --disable-w32threads --enable-dxva2 --enable-libmfx --enable-nvenc --enable-avisynth --enable-bzlib --enable-lib
ebur128 --enable-fontconfig --enable-frei0r --enable-gnutls --enable-iconv --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libfree
type --enable-libgme --enable-libgsm --enable-libilbc --enable-libmodplug --enable-libmp3lame --enable-libopencore-amrnb --enable-libopencore-amrwb --enable-lib
openjpeg --enable-libopus --enable-librtmp --enable-libschroedinger --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libtheora --enable-libtwolame
 --enable-libvidstab --enable-libvo-amrwbenc --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx264 --enable-libx265 --enable-
libxavs --enable-libxvid --enable-libzimg --enable-lzma --enable-decklink --enable-zlib
 libavutil 55. 28.100 / 55. 28.100
 libavcodec 57. 51.100 / 57. 51.100
 libavformat 57. 44.100 / 57. 44.100
 libavdevice 57. 0.102 / 57. 0.102
 libavfilter 6. 49.100 / 6. 49.100
 libswscale 4. 1.100 / 4. 1.100
 libswresample 2. 1.100 / 2. 1.100
 libpostproc 54. 0.100 / 54. 0.100
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'minions.mp4':
 Metadata:
 major_brand : mp42
 minor_version : 0
 compatible_brands: isommp42
 creation_time : 2016-03-17 10:06:57
 Duration: 00:03:18.72, start: 0.000000, bitrate: 1869 kb/s
 Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p, 1280x720 [SAR 1:1 DAR 16:9], 1675 kb/s, 23.98 fps, 23.98 tbr, 24k tbn, 47.95 tbc (default
)
 Metadata:
 handler_name : VideoHandler
 Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 44100 Hz, stereo, fltp, 192 kb/s (default)
 Metadata:
 creation_time : 2016-03-17 10:06:58
 handler_name : IsoMedia File Produced by Google, 5-11-2011
[swscaler @ 04821880] deprecated pixel format used, make sure you did set range correctly
[avi @ 048c0460] Using AVStream.codec to pass codec parameters to muxers is deprecated, use AVStream.codecpar instead.
 Last message repeated 1 times
Output #0, avi, to 'out.avi':
 Metadata:
 major_brand : mp42
 minor_version : 0
 compatible_brands: isommp42
 encoder : Lavf57.44.100
 Stream #0:0(und): Video: mjpeg (MJPG / 0x47504A4D), yuvj420p(pc), 800x480 [SAR 16:15 DAR 16:9], q=2-31, 200 kb/s, 23.98 fps, 23.98 tbn, 23.98 tbc (default)
 Metadata:
 handler_name : VideoHandler
 encoder : Lavc57.51.100 mjpeg
 Side data:
 cpb: bitrate max/min/avg: 0/0/200000 buffer size: 0 vbv_delay: -1
 Stream #0:1(und): Audio: pcm_s8, 44100 Hz, mono, u8, 352 kb/s (default)
 Metadata:
 creation_time : 2016-03-17 10:06:58
 handler_name : IsoMedia File Produced by Google, 5-11-2011
 encoder : Lavc57.51.100 pcm_s8
Stream mapping:
 Stream #0:0 -> #0:0 (h264 (native) -> mjpeg (native))
 Stream #0:1 -> #0:1 (aac (native) -> pcm_s8 (native))
Could not write header for output file #0 (incorrect codec parameters ?): Operation not permitted

ffmpeg can not write a header for output file. I want to mention that if audio encoder is selected to pcm_u8 everything works fine.

C:UsersEDesktopffmpeg-20160731-04da20e-win32-staticbin>ffmpeg -i minions.mp4 -vcodec mjpeg -s 800x480 -acodec pcm_u8 -ac 1 out.avi

output:

ffmpeg version N-81192-g04da20e Copyright (c) 2000-2016 the FFmpeg developers
 built with gcc 5.4.0 (GCC)
 configuration: --enable-gpl --enable-version3 --disable-w32threads --enable-dxva2 --enable-libmfx --enable-nvenc --enable-avisynth --enable-bzlib --enable-lib
ebur128 --enable-fontconfig --enable-frei0r --enable-gnutls --enable-iconv --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libfree
type --enable-libgme --enable-libgsm --enable-libilbc --enable-libmodplug --enable-libmp3lame --enable-libopencore-amrnb --enable-libopencore-amrwb --enable-lib
openjpeg --enable-libopus --enable-librtmp --enable-libschroedinger --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libtheora --enable-libtwolame
 --enable-libvidstab --enable-libvo-amrwbenc --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx264 --enable-libx265 --enable-
libxavs --enable-libxvid --enable-libzimg --enable-lzma --enable-decklink --enable-zlib
 libavutil 55. 28.100 / 55. 28.100
 libavcodec 57. 51.100 / 57. 51.100
 libavformat 57. 44.100 / 57. 44.100
 libavdevice 57. 0.102 / 57. 0.102
 libavfilter 6. 49.100 / 6. 49.100
 libswscale 4. 1.100 / 4. 1.100
 libswresample 2. 1.100 / 2. 1.100
 libpostproc 54. 0.100 / 54. 0.100
Input #0, mov,mp4,m4a,3gp,3g2,mj2, from 'minions.mp4':
 Metadata:
 major_brand : mp42
 minor_version : 0
 compatible_brands: isommp42
 creation_time : 2016-03-17 10:06:57
 Duration: 00:03:18.72, start: 0.000000, bitrate: 1869 kb/s
 Stream #0:0(und): Video: h264 (High) (avc1 / 0x31637661), yuv420p, 1280x720 [SAR 1:1 DAR 16:9], 1675 kb/s, 23.98 fps, 23.98 tbr, 24k tbn, 47.95 tbc (default
)
 Metadata:
 handler_name : VideoHandler
 Stream #0:1(und): Audio: aac (LC) (mp4a / 0x6134706D), 44100 Hz, stereo, fltp, 192 kb/s (default)
 Metadata:
 creation_time : 2016-03-17 10:06:58
 handler_name : IsoMedia File Produced by Google, 5-11-2011
File 'out.avi' already exists. Overwrite ? [y/N] y
[swscaler @ 030a1880] deprecated pixel format used, make sure you did set range correctly
[avi @ 04a10460] Using AVStream.codec to pass codec parameters to muxers is deprecated, use AVStream.codecpar instead.
 Last message repeated 1 times
Output #0, avi, to 'out.avi':
 Metadata:
 major_brand : mp42
 minor_version : 0
 compatible_brands: isommp42
 ISFT : Lavf57.44.100
 Stream #0:0(und): Video: mjpeg (MJPG / 0x47504A4D), yuvj420p(pc), 800x480 [SAR 16:15 DAR 16:9], q=2-31, 200 kb/s, 23.98 fps, 23.98 tbn, 23.98 tbc (default)
 Metadata:
 handler_name : VideoHandler
 encoder : Lavc57.51.100 mjpeg
 Side data:
 cpb: bitrate max/min/avg: 0/0/200000 buffer size: 0 vbv_delay: -1
 Stream #0:1(und): Audio: pcm_u8 ([1][0][0][0] / 0x0001), 44100 Hz, mono, u8, 352 kb/s (default)
 Metadata:
 creation_time : 2016-03-17 10:06:58
 handler_name : IsoMedia File Produced by Google, 5-11-2011
 encoder : Lavc57.51.100 pcm_u8
Stream mapping:
 Stream #0:0 -> #0:0 (h264 (native) -> mjpeg (native))
 Stream #0:1 -> #0:1 (aac (native) -> pcm_u8 (native))
Press [q] to stop, [?] for help
frame= 4764 fps=250 q=24.8 Lsize= 74247kB time=00:03:18.71 bitrate=3060.8kbits/s speed=10.4x
video:65364kB audio:8558kB subtitle:0kB other streams:0kB global headers:0kB muxing overhead: 0.438745%

What is the problem ? Why conversion does not work for signed pcm ?

Encoders for both unsigned and signed pcm are avaible:

C:UsersEDesktopffmpeg-20160731-04da20e-win32-staticbin>ffmpeg -encoders

 .
 .
 A..... pcm_f32be PCM 32-bit floating point big-endian
 A..... pcm_f32le PCM 32-bit floating point little-endian
 A..... pcm_f64be PCM 64-bit floating point big-endian
 A..... pcm_f64le PCM 64-bit floating point little-endian
 A..... pcm_mulaw PCM mu-law / G.711 mu-law
 A..... pcm_s16be PCM signed 16-bit big-endian
 A..... pcm_s16be_planar PCM signed 16-bit big-endian planar
 A..... pcm_s16le PCM signed 16-bit little-endian
 A..... pcm_s16le_planar PCM signed 16-bit little-endian planar
 A..... pcm_s24be PCM signed 24-bit big-endian
 A..... pcm_s24daud PCM D-Cinema audio signed 24-bit
 A..... pcm_s24le PCM signed 24-bit little-endian
 A..... pcm_s24le_planar PCM signed 24-bit little-endian planar
 A..... pcm_s32be PCM signed 32-bit big-endian
 A..... pcm_s32le PCM signed 32-bit little-endian
 A..... pcm_s32le_planar PCM signed 32-bit little-endian planar
 A..... pcm_s8 PCM signed 8-bit
 A..... pcm_s8_planar PCM signed 8-bit planar
 A..... pcm_u16be PCM unsigned 16-bit big-endian
 A..... pcm_u16le PCM unsigned 16-bit little-endian
 A..... pcm_u24be PCM unsigned 24-bit big-endian
 A..... pcm_u24le PCM unsigned 24-bit little-endian
 A..... pcm_u32be PCM unsigned 32-bit big-endian
 A..... pcm_u32le PCM unsigned 32-bit little-endian
 A..... pcm_u8 PCM unsigned 8-bit
 .
 .

Your error not about audio, it's about video:

[swscaler @ 04821880] deprecated pixel format used, make sure you did set range correctly
[avi @ 048c0460] Using AVStream.codec to pass codec parameters to muxers is deprecated, use AVStream.codecpar instead.
 Last message repeated 1 times

I think you can try to set pixel format as it asking. it could solve it.

I want to mention that if audio encoder is selected to pcm_u8 everything works fine.

Please, place the command for this convertion and the output (averything before 'stream mapping' including it) in your qustion by editing it.

The RIFF function called by the AVI muxer does not support writing a tag for PCM_S8 streams, so apparently that's why you can't write it to AVIs or WAVs.

You can use MOV or NUT formats.

If you need to use AVI, you are left with S16LE, S24LE, S32LE, F32LE, F64LE and U8 variants of LPCM.

To encode using IMA ADPCM, use

ffmpeg -i minions.mp4 -c:v mjpeg -s 800x480 -c:a adpcm_ima_wav -ac 1 out.avi

To encode using mu-law PCM, use

ffmpeg -i minions.mp4 -c:v mjpeg -s 800x480 -c:a pcm_mulaw -ac 1 out.avi

My company is building a device using the FT810 and this is the conversion script I have come up with:

AUDIO_SAMPLE_RATE=8000
VIDEO_FRAME_RATE=8

VIDEO_Y_POS=266 # Place video in 2/3rds up from bottom of screen

ffmpeg -i source/audio.mp3 -r 65535/2733 -vn -c:a libmp3lame -ar $AUDIO_SAMPLE_RATE -ac 1 -ab 128k -y /tmp/resampled.mp3

ffmpeg -i source/video.gif 
 -i /tmp/resampled.mp3 
 -filter:v scale=420:-2,pad=420:270+ih/2:0:270-ih/2:black 
 -pix_fmt yuvj420p -vcodec mjpeg -acodec pcm_s16le -r:v $VIDEO_FRAME_RATE -b:v 0.1M -ac 1 -shortest -y output/startup.avi

Notice that I am using pcm_s16le, because the documentation says "16 Bit PCM is partially supported by dropping off less significant 8 bits in each
audio sample."