Abstract: A system controls movement of a marine vessel near an object. The system includes a control module in signal communication with a marine propulsion system, a manually operable input device providing a signal representing a requested translation of the marine vessel, and a sensor providing a first distance between the vessel and a first point on the object and a second distance between the vessel and a second point on the object. The control module determines an actual angle between the vessel and the object based on the first distance and the second distance. In response to the signal representing the requested translation, the control module stores the actual angle between the vessel and the object as an initial angle and controls the marine propulsion system to produce thrust that will carry out the requested translation and that will maintain the initial angle.

Abstract: A controller associated with a propulsion device in a marine propulsion system is configured to send and receive controller area network (CAN) messages on a CAN bus and has computer-executable instructions stored thereon executed by a processor of the controller to perform a method. The method includes receiving a configuration instruction CAN message containing a new configuration value, determining that the configuration instruction CAN message is directed to itself, and then receiving a reboot CAN message. Upon determining that the reboot CAN messages directed to itself, the controller writes the new configuration value to memory and then controls a power relay to power off the controller, ignoring a key switch value associated with the propulsion device being on. The controller then responds to the key switch value to power the controller back on, and then loads the new configuration value into the working memory of the controller.

Abstract: A method includes accepting inputs to a marine vessel's control module, the inputs defining first and second waypoints and a desired heading, and defining a desired track between the first and second waypoints. Ideal steering and thrust commands required to orient the vessel at the desired heading and to maneuver the vessel from the first to the second waypoint are generated and carried out. The method includes measuring a current position and heading of the vessel; calculating a cross-track error based on the current position as compared to the desired track; and calculating a heading error based on the current heading as compared to the desired heading. The method includes generating corrective steering and thrust commands that are required to minimize the cross-track error and the heading error. The propulsion system propels the marine vessel according to the corrective steering and thrust commands, as appropriate.

Abstract: A method for maintaining a marine vessel at a global position and/or heading includes receiving measurements related to vessel attitude and estimating water roughness conditions based on the measurements. A difference between the vessel's actual global position and the target global position and/or a difference between the vessel's actual heading and the target heading are determined. The method includes calculating a desired linear velocity based on the position difference and/or a desired rotational velocity based on the heading difference. The vessel's actual linear velocity and/or actual rotational velocity are filtered based on the roughness conditions. The method includes determining a difference between the desired linear velocity and the filtered actual linear velocity and/or a difference between the desired rotational velocity and the filtered actual rotational velocity.

Abstract: A method for maintaining a marine vessel at a global position and/or heading includes receiving measurements related to vessel attitude and estimating water roughness conditions based on the measurements. A difference between the vessel's actual global position and the target global position and/or a difference between the vessel's actual heading and the target heading are determined. The method includes calculating a desired linear velocity based on the position difference and/or a desired rotational velocity based on the heading difference. The vessel's actual linear velocity and/or actual rotational velocity are filtered based on the roughness conditions. The method includes determining a difference between the desired linear velocity and the filtered actual linear velocity and/or a difference between the desired rotational velocity and the filtered actual rotational velocity.

Abstract: A method for positioning a marine vessel includes receiving a measured actual position of the vessel and determining a first error between the actual position of the vessel and a desired target position of the vessel. In response to the first error being in a fore/aft direction of the vessel, the method includes commanding a first subset of marine propulsion devices in a plurality of marine propulsion devices to produce thrust to minimize the first error in the fore/aft direction, as appropriate, while a remainder of the marine propulsion devices in the plurality do not produce thrust. The method thereafter includes commanding the first subset of marine propulsion devices to cease producing thrust. The method may also include selecting whether to actuate all marine propulsion devices in the plurality of marine propulsion devices or a first subset thereof based on a magnitude and a direction of the first error.

Abstract: A method for calibrating a marine propulsion system that controls operation of a marine propulsion device on a marine vessel includes accepting an input signal from a user input device and determining an output signal corresponding to the input signal based on one or more stored parameters. The stored parameters are pre-calibrated to result in a predefined maneuver of the marine vessel. The marine propulsion device is operated according to the output signal and it is determined if any un-commanded maneuvers of the marine vessel result while operating the marine propulsion device according to the output signal. The method includes adapting one or more of the stored parameters so as to adjust operation of the marine propulsion device to abate the un-commanded vessel maneuvers. The one or more adapted parameters are saved and are used to determine subsequent output signals corresponding to subsequent input signals from the user input device.

Abstract: A controller associated with a propulsion device in a marine propulsion system stores computer-executable instructions to perform a method of automatically configuring at least one other controller associated with the propulsion device. The method includes storing a controller CAN address that identifies a propulsion device position of the propulsion device in the marine propulsion system, and then receiving an identification CAN message communicating an initial CAN address from the other controller via a dedicated CAN bus, wherein the initial CAN address contains initial propulsion device position information. The initial CAN address is compared to the controller CAN address to determine whether the initial propulsion device position information correctly identifies the propulsion device position and, if it does not, the controller sends a change CAN message via the dedicated CAN bus to change the initial CAN address of the other controller to a correct CAN address identifying the propulsion device position.

Abstract: A system controls movement of a marine vessel near an object. The system includes a control module in signal communication with a marine propulsion system, a manually operable input device providing a signal representing a requested translation of the marine vessel, and a sensor providing a first distance between the vessel and a first point on the object and a second distance between the vessel and a second point on the object. The control module determines an actual angle between the vessel and the object based on the first distance and the second distance. In response to the signal representing the requested translation, the control module stores the actual angle between the vessel and the object as an initial angle and controls the marine propulsion system to produce thrust that will carry out the requested translation and that will maintain the initial angle.

Abstract: A marine vessel is powered by a marine propulsion system and movable with respect to first, second, and third axes that are perpendicular to one another and define at least six degrees of freedom of potential vessel movement. A method for controlling a position of the marine vessel near a target location includes measuring a present location of the marine vessel, and based on the vessel's present location, determining if the marine vessel is within a predetermined range of the target location. The method includes determining marine vessel movements that are required to translate the marine vessel from the present location to the target location. In response to the marine vessel being within the predetermined range of the target location, the method includes automatically controlling the propulsion system to produce components of the required marine vessel movements one degree of freedom at a time during a given iteration of control.

Abstract: A method and system for controlling a position of a marine vessel near an object are disclosed. A location sensor determines a location of the marine vessel, and a speed sensor determines a speed of the marine vessel. A control module is in signal communication with the location sensor and the speed sensor. A marine propulsion system is in signal communication with the control module. The control module determines if the marine vessel is within a predetermined range of the object based on the marine vessel's location. In response to determining that the marine vessel is within the predetermined range of the object, the control module controls the propulsion system to produce at least one of a braking linear thrust and a braking moment to counter current movement of the marine vessel.

Abstract: A method and system for controlling a position of a marine vessel near an object are disclosed. A location sensor determines a location of the marine vessel, and a speed sensor determines a speed of the marine vessel. A control module is in signal communication with the location sensor and the speed sensor. A marine propulsion system is in signal communication with the control module. The control module determines if the marine vessel is within a predetermined range of the object based on the marine vessel's location. In response to determining that the marine vessel is within the predetermined range of the object, the control module controls the propulsion system to produce at least one of a braking linear thrust and a braking moment to counter current movement of the marine vessel.

Abstract: A marine vessel is powered by a marine propulsion system and movable with respect to first, second, and third axes that are perpendicular to one another and define at least six degrees of freedom of potential vessel movement. A method for controlling a position of the marine vessel near a target location includes measuring a present location of the marine vessel, and based on the vessel's present location, determining if the marine vessel is within a predetermined range of the target location. The method includes determining marine vessel movements that are required to translate the marine vessel from the present location to the target location. In response to the marine vessel being within the predetermined range of the target location, the method includes automatically controlling the propulsion system to produce components of the required marine vessel movements one degree of freedom at a time during a given iteration of control.

Abstract: A method for controlling movement of a marine vessel includes controlling a propulsion device to automatically maneuver the vessel along a track including a series of waypoints, and determining whether the next waypoint is a stopover waypoint at or near which the vessel is to electronically anchor. If the next waypoint is the stopover waypoint, a control module calculates a distance between the vessel and the stopover waypoint. In response to the calculated distance being less than or equal to a threshold distance, the propulsion device's thrust is decreased. In response to sensing that the vessel thereafter slows to a first threshold speed, the vessel's speed is further reduced. In response to sensing that the vessel thereafter slows to a second, lower threshold speed or passes the stopover waypoint, the propulsion device is controlled to maintain the vessel at an anchor point that is at or near the stopover waypoint.

Abstract: A method of operating a steer-by-wire steering system on a marine vessel includes receiving an initial component position of a steerable component and receiving an initial wheel position of a manually rotatable steering wheel with respect to a zero position. An initial normalized steering value is then calculated based on the initial component position, and the initial normalized steering value is correlated to the initial wheel position. The correlation between a subsequently received wheel position and a subsequently calculated normalized steering value is then adjusted by a recovery gain until the steering wheel reaches an aligned position with the steerable component.

Abstract: A method for maintaining position and/or heading of a marine vessel in a body of water includes accepting a command to maintain the vessel at an initial selected position and/or heading, and utilizing position/heading feedback control to determine initial steering angles, gear positions, and engine speeds for the vessel's propulsion devices that cause the propulsion devices to produce thrust that counteracts a net external force and moment on the vessel and maintains the vessel at the initial selected position/heading. The method also includes propelling the vessel to a new selected position/heading, and accepting a command to maintain the vessel at the new selected position/heading. The method next includes utilizing information related to one of the position/heading feedback control and the propulsion devices' thrust to predict control parameters required to maintain the vessel at the new selected position/heading, and controlling the propulsion device according to the predicted control parameters.

Abstract: A method for controlling a position of an electronic throttle valve of an internal combustion engine is provided. The method includes determining a desired throttle valve position; determining a first feed forward signal based on a rate of change between a previous throttle valve position and the desired throttle valve position; and determining a second feed forward signal based on a comparison of the desired throttle valve position to a limp home position of the throttle valve, in which the throttle valve is biased open by a spring. A summation of the first and second feed forward signals is used to actuate the throttle valve. After the throttle valve has been actuated according to the first and second feed forward signals, the position of the throttle valve is controlled with a feedback controller to obtain the desired throttle valve position.

Abstract: A method for maintaining a marine vessel at a global position and/or heading includes receiving measurements related to vessel attitude and estimating water roughness conditions based on the measurements. A difference between the vessel's actual global position and the target global position and/or a difference between the vessel's actual heading and the target heading are determined. The method includes calculating a desired linear velocity based on the position difference and/or a desired rotational velocity based on the heading difference. The vessel's actual linear velocity and/or actual rotational velocity are filtered based on the roughness conditions. The method includes determining a difference between the desired linear velocity and the filtered actual linear velocity and/or a difference between the desired rotational velocity and the filtered actual rotational velocity.

Abstract: A method of controlling an internal combustion engine of a marine propulsion device includes receiving a knock sensor signal over an analysis period in a combustion cycle of an internal combustion engine, and subdividing the analysis period into at least a first knock window and a second knock window. The method further includes determining that the knock sensor signal exceeds a threshold in each of the first knock window and the second knock window, and that the knock sensor signal intensity is greater in the first knock window than in the second knock window. At least one combustion parameter is then adjusted for the internal combustion engine to eliminate knocking.

Abstract: The speed of a marine propulsion system's engine is temporarily elevated in response to a decrease in helm demand. A controller receives a command to decrease the helm demand from a first helm demand to a second helm demand and compares a demand difference between the second helm demand and the first helm demand to a threshold demand delta. In response to the demand difference exceeding the threshold demand delta, the controller tabulates a time since the demand difference exceeded the threshold demand delta and determines an engine speed offset based upon the second helm demand and the time. The controller determines a non-elevated engine speed setpoint corresponding to the second helm demand and calculates an elevated engine speed setpoint based on the non-elevated engine speed setpoint and the engine speed offset. Engine speed is then decreased to the elevated engine speed setpoint.