Thank you guys for the explanation. And for the excellent software!
The MP4 container only supports a few audio codecs namely these:
Advanced Audio Coding (AAC)
<https://en.wikipedia.org/wiki/Advanced_Audio_Coding>, Audio Lossless Coding
<https://en.wikipedia.org/wiki/Audio_Lossless_Coding> (ALS), Scalable
Lossless Coding <https://en.wikipedia.org/wiki/Scalable_Lossless_Coding>
(SLS), MP3 <https://en.wikipedia.org/wiki/MP3>, MPEG-1 Audio Layer II
<https://en.wikipedia.org/wiki/MPEG-1_Audio_Layer_II> (MP2), MPEG-1 Audio
Layer I <https://en.wikipedia.org/wiki/MPEG-1_Audio_Layer_I> (MP1), CELP
<https://en.wikipedia.org/wiki/CELP>, HVXC
<https://en.wikipedia.org/wiki/HVXC> (speech), TwinVQ
<https://en.wikipedia.org/wiki/TwinVQ>, Text To Speech Interface (TTSI) and
Structured Audio Orchestra Language
<https://en.wikipedia.org/wiki/Structured_Audio_Orchestra_Language> (SAOL),
Apple Lossless <https://en.wikipedia.org/wiki/Apple_Lossless>, Free Lossless
Audio Codec <https://en.wikipedia.org/wiki/FLAC> (added in late 2018), and
Opus <https://en.wikipedia.org/wiki/Opus_(audio_format)> (added in late
2018)
Use a different container like MKV if you want support for almost every
audio codec available
That info is outdated, as ISO/IEC 23003-5 added support for PCM formats
in MP4, and that was implemented in ffmpeg:
https://trac.ffmpeg.org/ticket/10185
https://github.com/FFmpeg/FFmpeg/compare/d04dbf48fc7474747e27caceeed7153d1c0585e4..d4ee177a36c59b19de474d3713304c7828263cb0
But that unfortunately does not include the codec in question here,
AV_CODEC_ID_PCM_MULAW. So you need to re-encode the audio to something
else, or use a different container, as Ferdi suggested.
Cheers,
Moritz
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