Systems and methods for detecting an on-plane state of a marine vessel
A system for controlling a marine vessel includes a pitch sensor configured to output pitch measurements indicative of a vessel pitch angle of the marine vessel and a controller. The controller is configured to detect that the marine vessel is in a launch state based on a speed parameter and/or the pitch measurements, detect a maximum vessel pitch based on the pitch measurements, detect a threshold decrease in pitch of the marine vessel compared to the maximum vessel pitch based on the pitch measurements, and in response to detection of the threshold decrease in pitch, determine that the vessel has reached an on-plane state.
1 . A system for controlling a marine vessel, the system comprising:
a pitch sensor configured to output pitch measurements indicative of a vessel pitch angle of the marine vessel;
at least one controller comprising a processor, the at least one controller configured to:
detect that the marine vessel is in a launch state based on a speed parameter and/or the pitch measurements;
detect a maximum vessel pitch based on the pitch measurements;
detect a threshold decrease in pitch of the marine vessel compared to the maximum vessel pitch based on the pitch measurements; and
in response to detection of the threshold decrease in pitch, determine that the marine vessel has reached an on-plane state.
2 . The system of claim 1 , wherein the threshold decrease in pitch is a static value calibrated for the marine vessel.
3 . The system of claim 1 , wherein the threshold decrease in pitch is an adjustable value.
4 . The system of claim 1 , wherein the at least one controller is further configured to:
filter the pitch measurements to generate filtered pitch measurements; and
detect the maximum vessel pitch and the threshold decrease in pitch based on the filtered pitch measurements.
5 . The system of claim 1 , wherein the speed parameter includes at least one of a vessel speed, a drive RPM, a motor torque, a motor current, and a demand value.
6 . The system of claim 1 , wherein the at least one controller is further configured to detect that the marine vessel is in the launch state when a vessel speed of the marine vessel exceeds a launch speed threshold or when a demand value exceeds a launch demand threshold.
7 . The system of claim 6 , wherein the launch speed threshold is less than a planing speed of the marine vessel.
8 . The system of claim 6 , wherein the launch demand threshold is greater than or equal to a demand value associated with a planing speed of the marine vessel.
9 . The system of claim 1 , further comprising:
at least one trim actuator configured to adjust a trim position of a trimmable device; and
wherein the at least one controller is configured to control the at least one trim actuator to adjust the trim position of the trimmable device in response to detecting that the marine vessel is in the on-plane state.
10 . The system of claim 9 , wherein the at least one controller is configured to control the at least one trim actuator to place the trimmable device in a first position in response to detecting that the marine vessel is in the launch state, and to control the at least one trim actuator to place the trimmable device in a second position in response to detecting that the marine vessel is in the on-plane state.
11 . The system of claim 10 , wherein the trimmable device is a pair of trim tabs; and
wherein the first position is an extended position of the pair of trim tabs and the second position where the pair of trim tabs are not in the extended position.
12 . The system of claim 10 , wherein the trimmable device is a trimmable marine drive; and
wherein the first position is a tucked position and the second position is a running trim position.
13 . A method for controlling a marine vessel, the method comprising:
by at least one controller comprising a processor:
operating a pitch sensor to output pitch measurements indicative of a vessel pitch angle of the marine vessel;
detecting that the marine vessel is in a launch state based on a speed parameter and/or the pitch measurements;
detecting a maximum vessel pitch based on the pitch measurements;
detecting a threshold decrease in pitch of the marine vessel compared to the maximum vessel pitch based on the pitch measurements; and
in response to detection of the threshold decrease in pitch, determining that the marine vessel has reached an on-plane state; and
controlling at least one marine drive, at least one steering actuator, and/or at least one trim actuator based on the on-plane state.
14 . The method of claim 13 , further comprising:
filtering the pitch measurements to generate filtered pitch measurements; and
detecting the maximum vessel pitch and the threshold decrease in pitch based on the filtered pitch measurements.
15 . The method of claim 13 , wherein the speed parameter includes at least one of a vessel speed, a drive RPM, a motor torque, a motor current, and a demand value.
16 . The method of claim 13 , further comprising detecting that the marine vessel is in the launch state when a vessel speed of the marine vessel exceeds a launch speed threshold or when a demand value exceeds a launch demand threshold.
17 . The method of claim 16 , wherein the launch speed threshold is less than a planing speed of the marine vessel.
18 . The method of claim 16 , wherein the launch demand threshold is greater than or equal to a demand value associated with a planing speed of the marine vessel.
19 . The method of claim 13 , further comprising controlling the at least one trim actuator to adjust a trim position of a trimmable device in response to detecting that the marine vessel is in the on-plane state.
20 . The method of claim 19 , further comprising:
controlling the at least one trim actuator to place the trimmable device in a first position in response to detecting that the marine vessel is in the launch state; and
controlling the at least one trim actuator to place the trimmable device in a second position in response to detecting that the marine vessel is in the on-plane state.
21 . The system of claim 1 , wherein the at least one controller is further configured to, in response to determination that the marine vessel has reached an on-plane state, change operation of at least one marine drive, at least one steering actuator, and/or at least one trim actuator.