diff --git a/DOCS/interface-changes.rst b/DOCS/interface-changes.rst
index cce833f374..5f30a9bb8c 100644
--- a/DOCS/interface-changes.rst
+++ b/DOCS/interface-changes.rst
@@ -65,6 +65,11 @@ Interface changes
       now always sets the device, not the span or speed to be played. No
       separating extra "/" is needed. The hidden --cdda-device options is also
       deleted (it was redundant with the documented --cdrom-device).
+    - deprecate --vo=rpi. It will be removed in mpv 0.22.0. Its functionality
+      was folded into --vo=opengl, which now uses RPI hardware decoding by
+      treating it as a hardware overlay (without applying GL filtering). Also
+      to be changed in 0.22.0: the --fs flag will be reset to "no" by default
+      (like on the other platforms).
  --- mpv 0.20.0 ---
     - add --image-display-duration option - this also means that image duration
       is not influenced by --mf-fps anymore in the general case (this is an
diff --git a/DOCS/man/vo.rst b/DOCS/man/vo.rst
index 57698d3cc8..f352c46608 100644
--- a/DOCS/man/vo.rst
+++ b/DOCS/man/vo.rst
@@ -459,7 +459,14 @@ Available video output drivers are:
 ``rpi`` (Raspberry Pi)
     Native video output on the Raspberry Pi using the MMAL API.
 
-    The following global options are supported by this video output:
+    This is deprecated. Use ``--vo=opengl`` instead, which is the default and
+    provides the same functionality. The ``rpi`` VO will be removed in
+    mpv 0.22.0. Its functionality was folded into --vo=opengl, which now uses
+    RPI hardware decoding by treating it as a hardware overlay (without applying
+    GL filtering). Also to be changed in 0.22.0: the --fs flag will be reset to
+    "no" by default (like on the other platforms).
+
+    The following deprecated global options are supported by this video output:
 
     ``--rpi-display=<number>``
         Select the display number on which the video overlay should be shown
diff --git a/video/out/vo.c b/video/out/vo.c
index 2ad57eff7f..8c66b0dab3 100644
--- a/video/out/vo.c
+++ b/video/out/vo.c
@@ -62,9 +62,6 @@ extern const struct vo_driver video_out_rpi;
 
 const struct vo_driver *const video_out_drivers[] =
 {
-#if HAVE_RPI
-    &video_out_rpi,
-#endif
 #if HAVE_GL
     &video_out_opengl,
 #endif
@@ -103,6 +100,9 @@ const struct vo_driver *const video_out_drivers[] =
 #endif
 #if HAVE_GL
     &video_out_opengl_cb,
+#endif
+#if HAVE_RPI
+    &video_out_rpi,
 #endif
     NULL
 };
diff --git a/video/out/vo_rpi.c b/video/out/vo_rpi.c
index 9a1280584c..de5a8bf5e1 100644
--- a/video/out/vo_rpi.c
+++ b/video/out/vo_rpi.c
@@ -740,6 +740,9 @@ static void uninit(struct vo *vo)
 
 static int preinit(struct vo *vo)
 {
+    MP_WARN(vo, "This VO is deprecated! Use --vo=opengl instead (which has "
+                "the same features and which is the default).\n");
+
     struct priv *p = vo->priv;
 
     p->background_layer = p->layer;