Summary: Linux audio configuration can be very challenging. This guide contains instructions for configuring a variety of audio hardware. The default 3.5mm jack DOES NOT WORK with this system - you just get white noise.
The base system uses Pulse Audio in System mode. This forces a single instance of the Pulse Audio server to run and all applications connect to it.
This document assumes that you have Pulse Audio running in system mode.
sudo nano /boot/config.txt