CPC G05D 1/0875 (2013.01) [B63B 39/00 (2013.01); B63H 25/42 (2013.01)] | 20 Claims |
1. A method of controlling attitude of a marine vessel, the method comprising:
measuring a roll motion of the marine vessel with an attitude sensor;
determining that the roll motion exceeds a threshold roll, where no corresponding steering input is present;
determining a counteracting drive movement for at least one propulsion device based on the measured roll motion and a natural roll frequency of the marine vessel, wherein the counteracting drive movement includes a frequency of rotation of the propulsion device; and
controlling a steering actuator to move the at least one propulsion device to effectuate the counteracting drive movement so as to counteract the roll motion of the marine vessel.
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