Abstract: A system for steering marine propulsion devices. Steering actuators are configured to change steering angles of the marine propulsion devices. A control system is operatively connected to the steering actuators. The control system is configured to receive a steering request for steering a first device among the marine propulsion devices, compare a steering angle of the first device to a steering angle of a second device among the marine propulsion devices, and control the steering actuators to steer the first device only when the steering angle of the first device is within a threshold range of the steering angle of the second device.

Abstract: A steering system for marine propulsion devices having a steering device and steering actuators configured to change steering angles of the marine propulsion devices. A control system is operatively connected to the steering actuators and operatively connected to the steering device to receive steering requests from the steering device. The control system is configured to receive a request to activate the steering for a first device among the marine propulsion devices. The control system is further configured to change the steering angle of the first device according to a steering request when the steering request is received after receiving the request to activate the steering for the first device and to leave the steering angle for the first device unchanged when the steering request is received before receiving the request to activate the steering for the first device.

Abstract: A method of controlling an electric marine propulsion system configured to propel a marine vessel and powered by a power storage system includes presenting on a user interface a plurality of power mode options selectable by a user, including at least a reduced power and an emergency power mode. Upon selection of the reduced power mode by the user, at least one auxiliary devices utilizing power from the power storage system is automatically turned off and the propulsion system is controlled so as not to exceed a first speed limit. Upon selection of the emergency power mode by the user, the at least one auxiliary device utilizing power from the power storage system is turned off and the propulsion system is controlled so as not to exceed a second speed limit that is lower than the first speed limit.

Abstract: A method for aligning steering angles of marine propulsion devices. The method includes receiving a first steering request to steer the marine propulsion devices, where when the first steering request is received, steering for a first device is deactivated and steering for a second device is activated, and changing a steering angle of the second device according to the first steering request while leaving a steering angle of the first device unchanged. The method includes receiving a request to activate steering for the first device and receiving a second steering request, then changing the steering angles of both the first and second devices when the second steering request is received after receiving the request to activate steering, and changing the steering angle of the second device while leaving the steering angle for the first device unchanged when the second steering request is received before receiving the request to activate steering.

Abstract: A method of controlling an electric marine propulsion system configured to propel a marine vessel including measuring at least one parameter of an electric motor in the electric marine propulsion system and determining that the parameter measurement indicates an abnormality in the electric marine propulsion system. A reduced operation limit is then determined based on the at least one parameter measurement, wherein the reduced operation limit includes at least one of a torque limit, an RPM limit, a current limit, and a power limit. The electric motor is then controlled such that the reduced operation limit is not exceeded.

Abstract: A method for maintaining a marine vessel propelled by a marine propulsion device in a selected position includes determining a current global position of the marine vessel and receiving a signal command to maintain the current global position. The current global position is stored as a target global position in response to receiving the signal command. A subsequent global position of the marine vessel is determined and a position error difference between the subsequent global position and the target global position is determined. The method includes determining marine vessel movements required to minimize the position error difference, and causing the marine propulsion device to produce a thrust having a magnitude, a direction, and an angle calculated to result in achievement of the required marine vessel movements. At least one of timing and frequency of discontinuity of thrust production is controlled while the position error difference is minimized.

Abstract: A marine propulsion system includes a first controller area network (CAN) bus communicatively connecting two or more devices to facilitate communication of CAN messages therebetween. The system further includes a helm controller (HCM) associated with the propulsion device and having an HCM CAN transceiver to facilitate receipt and transmission of CAN messages by the HCM on the first CAN bus. The HCM is configured to receive a silence CAN message via the first CAN bus and then determine whether the silence CAN message is directed to itself. If so, then the HCM will cease transmitting any CAN message on the first CAN bus and/or cease CAN-related diagnostics in response to the silence CAN message so as to reduce traffic on the CAN bus.

Abstract: A method for maintaining a marine vessel propelled by a marine propulsion device in a selected position includes determining a current global position of the marine vessel and receiving a signal command to maintain the current global position. The current global position is stored as a target global position in response to receiving the signal command. A subsequent global position of the marine vessel is determined and a position error difference between the subsequent global position and the target global position is determined. The method includes determining marine vessel movements required to minimize the position error difference, and causing the marine propulsion device to produce a thrust having a magnitude, a direction, and an angle calculated to result in achievement of the required marine vessel movements. At least one of timing and frequency of discontinuity of thrust production is controlled while the position error difference is minimized.

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 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 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 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 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: A method for maneuvering a marine vessel powered by a propulsion system includes accepting inputs to an electronic navigation device and generating a desired track based on the inputs. The desired track includes a series of waypoints, each waypoint in the series of waypoints being associated with a respective heading. The method also includes sending position and orientation information corresponding to each waypoint and its associated heading to a control module. Based on the position and orientation information, the control module generates steering and thrust commands that are required to maneuver the marine vessel from a current waypoint and heading in the series to a following waypoint and heading in the series. According to the steering and thrust commands, the propulsion system thereafter propels the marine vessel along the desired track to each waypoint and its associated heading in succession. A corresponding system is also disclosed.

Abstract: A method for controlling propulsion of two or more marine drives in a marine vessel includes detecting a fault condition relating to a first marine drive, and determining, at a first control module associated with the first marine drive, a power limit restriction for the first marine drive based on the fault condition. The method further includes communicating the power limit restriction with the first control module on a CAN bus of the marine vessel, and receiving the power limit restriction at a second control module associated with a second marine drive. The power output of the second marine drive is then reduced based on the power limit restriction for the first marine drive.

Abstract: A method for setting an engine speed of an internal combustion engine in a marine propulsion system to an operator-selected engine speed includes predicting a position of a throttle valve of the engine that is needed to provide the operator-selected engine speed, and determining a feed forward signal that will move the throttle valve to the predicted position. After moving the throttle valve to the predicted position, the method next includes controlling the engine speed with a feedback controller so as to obtain the operator-selected engine speed. The feed forward signal is determined based on at least one of the following criteria: an operator-selected control mode of the marine propulsion system; and an external operating condition of the marine propulsion system. A system for setting the engine speed to the operator-selected engine speed is also described.

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.