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To link a youtube video so that it opens in Hi-Def (1080p) append "&fmt=37" to the end of the link.

&fmt=37

For example:
Normal Link

http://www.youtube.com/watch?v=ysSxxIqKNN0

Hi-Def Link

http://www.youtube.com/watch?v=ysSxxIqKNN0&fmt=37


To link to at 720p resolution use:

&fmt=22


Resolutions & Format

Youtube fmt Codes
fmt# Resolution Format
5 240p FLV
17 176x144 3GP
18 360P MP4
22 720p MP4
34 360p FLV
35 480p FLV
37 1080p MP4


References

http://en.wikipedia.org/wiki/YouTube#Quality_and_codecs