System for controlling watercraft and watercraft

Abstract

The present watercraft operating system (100) includes a marine propulsion device (3), an operating portion (4), an input device (27), and a watercraft operating controller (30). The marine propulsion device (3) generates a thrust for propelling a watercraft (10). The operating portion (4) includes a joystick (26) operable to tilt. The input device (27) outputs an operating signal. The watercraft operating controller (30) controls both a magnitude and an orientation of the thrust in accordance with operating the operating portion (4). When receiving the operating signal, the watercraft operating controller (30) determines whether or not the joystick (26) is located in a neutral position. When the joystick 26 is located in the neutral position, the watercraft operating controller (30) transitions to a holding standby state. When the joystick (26) is operated to tilt in the holding standby state, the watercraft operating controller (30) transitions to a holding control state for holding the thrust or a watercraft speed.

Description

[0001] The present invention relates to a system for controlling a watercraft and a watercraft.Background Information

[0002] There has been disclosed a type of watercraft using a joystick as an operating device for operating the watercraft. As a proposal for enhancement in operability of a watercraft with a joystick, JP S60-166043 U discloses a configuration to execute a holding control for holding an output signal from a joystick by pressing a holding switch in operating a watercraft with the joystick.

[0003] According to JP S60-166043 U, for holding the output signal from the joystick, a watercraft operator is required to press the holding switch, while operating the joystick; hence, the watercraft operator is required to perform the operating motions with both hands. Besides, when pressing the holding switch, the watercraft operator is required to cast a quick glance on the holding switch, while operating the joystick; hence, there is still room for improvement in operability regarding the holding control.

[0004] It is an object of the present disclosure to achieve enhancement in operability regarding a holding control for a joystick.

[0005] A system according to an aspect of the present invention relates to a system for controlling a watercraft and includes a marine propulsion device, an operating portion, an input device, and a controller. The marine propulsion device generates a thrust for propelling the watercraft. The operating portion includes a joystick operable to tilt. The input device outputs an operating signal. The controller configured or programed to control both a magnitude and an orientation of the thrust in accordance with operating the operating portion. The controller determines whether or not the joystick is located in a neutral position when receiving the operating signal. The controller transitions to a holding standby state when the joystick is located in the neutral position. The controller transitions to a holding control state for holding the thrust or a watercraft speed in the holding standby state when the joystick is operated to tilt.

[0006] In the system according to the present disclosure, the controller transitions to the holding standby state in accordance with operating the input device when the joystick is not being operated. When the joystick is operated to tilt in the holding standby state, the controller controls to transition to the holding control state. Accordingly, it is made possible to achieve enhancement in operability regarding a holding control for the joystick in comparison with a configuration that a holding switch is required to be pressed, with the joystick being operated.

[0007] Overall, according to the present disclosure, it is made possible to achieve enhancement in operability regarding the holding control for the joystick.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] FIG. 1 is a plan view of a watercraft to which a marine propulsion device is mounted in a preferred embodiment. FIG. 2 is a side view of the marine propulsion device. FIG. 3 is a diagram for explaining an electric motor. FIG. 4 is a schematic diagram showing a configuration of a watercraft operating system. FIG. 5 is a diagram for explaining an input device. FIG. 6 is a flowchart showing a series of processing to be executed by a watercraft operating controller. FIG. 7 is a chart for explaining increment in thrust. FIG. 8 is a chart for explaining a relation between increment in thrust and watercraft speed. DETAILED DESCRIPTION OF EMBODIMENTS

[0009] A preferred embodiment will be hereinafter explained with reference to drawings. FIG. 1 is a perspective view of a watercraft 10 in which a watercraft operating system 100 according to the preferred embodiment is disposed. The watercraft 10 includes a hull 2 and a marine propulsion device 3. In the present preferred embodiment, the marine propulsion device 3 is an electric outboard motor. The marine propulsion device 3 is attached to the stern of the hull 2 of the watercraft 10. The marine propulsion device 3 is disposed on the stern in the middle of the watercraft 10 in the right-and-left direction. The marine propulsion device 3 generates a thrust for propelling the watercraft 10.

[0010] FIG. 2 is a side view of the marine propulsion device 3. The marine propulsion device 3 is attached to the hull 2 through a bracket 11. The marine propulsion device 3 is supported by the bracket 11.

[0011] The marine propulsion device 3 includes an upper portion 12, a lower portion 13, a propeller 14, a steering device 15, and an electric motor 16 (see FIG. 3). The upper portion 12 is attached to the bracket 11. The lower portion 13 is disposed below the bracket 11. The lower portion 13 is supported to be pivotable about the axis of a steering axle 15a (to be described) with respect to the upper portion 12. The lower portion 13 includes a case portion 13a and a duct 13b. The case portion 13a is integrated with the duct 13b. The duct 13b is disposed below the case portion 13a. The duct 13b has a tubular shape. The propeller 14 is disposed on the duct 13b of the lower portion 13. The propeller 14 generates the thrust when rotated by the driving force of the electric motor 16.

[0012] The steering device 15 is configured to pivot the lower portion 13. By pivoting the lower portion 13, the steering device 15 changes the orientation of the thrust generated by the rotation of the propeller 14. The steering device 15 includes the steering axle 15a. The steering axle 15a extends in the up-and-down direction. The steering axle 15a is connected to the upper portion 12 and the duct 13b of the lower portion 13. The steering device 15 includes a motor (not shown in the drawings) for rotating the steering axle 15a about the axis thereof.

[0013] The electric motor 16 is driven when supplied with electric power from a battery (not shown in the drawings) disposed in the hull 2. The electric motor 16 includes a stator portion 16a and a rotor portion 16b. The stator portion 16a is fixed to the duct 13b. The stator portion 16a includes a coil (not shown in the drawings). The rotor portion 16b is fixed to the propeller 14. The stator portion 16a is disposed in opposition to the rotor portion 16b. The rotor portion 16b includes a plurality of magnets (not shown in the drawings). When the coil of the stator portion 16a is electrified, the propeller 14 is rotated together with the rotor portion 16b.

[0014] FIG. 4 is a schematic diagram showing a configuration of the watercraft operating system 100. The marine propulsion device 3 includes a motor controller 17 and a steering controller 18. The motor controller 17 and the steering controller 18 are control circuits, each of which includes a processor such as a CPU (Central Processing Unit) and memories such as a RAM (Random Access Memory) and a ROM (Read-Only Memory). The motor controller 17 has stored programs and data for controlling the electric motor 16. The motor controller 17 controls the rotational direction and the output of the electric motor 16 in accordance with a command signal outputted thereto from a watercraft operating controller 30 (to be described).

[0015] The steering controller 18 controls the driving of the steering device 15 in accordance with a command signal outputted thereto from the watercraft operating controller 30. The steering controller 18 has stored programs and data for controlling the steering device 15.

[0016] As shown in FIG. 1, the watercraft operating system 100 includes an operating portion 4 for receiving an operation performed by a watercraft operator. The operating portion 4 is disposed in a cockpit 10b of the watercraft 10. The operating portion 4 includes a steering wheel 24, a remote controller 25, a joystick 26, an input device 27 (see FIG. 5), and a display device 28.

[0017] The steering wheel 24 serves as a device for allowing the watercraft operator to manipulate the turning direction of the watercraft 10. The steering wheel 24 includes a sensor 24a. The sensor 24a outputs a steering signal indicating the operating direction and the operating amount of the steering wheel 24.

[0018] The remote controller 25 includes a throttle lever 25a. The throttle lever 25a serves as a device for allowing the operator to regulate the magnitude of the thrust generated by the marine propulsion device 3. The throttle lever 25a also serves as a device for allowing the operator to switch the direction of the thrust generated by the marine propulsion device 3 between a forward moving direction and a rearward moving direction. The throttle lever 25a is operable from a neutral position to a forward moving position and a rearward moving position. The neutral position is an intermediate position between the forward moving position and the rearward moving position. The throttle lever 25a includes a sensor 25b. The sensor 25b outputs a throttle signal indicating the operating direction and the operating amount of the throttle lever 25a.

[0019] The joystick 26 is tiltable from the neutral position in the back-and-forth direction and the right-and-left direction (sideways direction). In other words, the joystick 26 is tiltable in all compass directions. The joystick 26 is rotatable about a rotational axis Ax1. In other words, the joystick 26 is operable to twist clockwise and counterclockwise about the rotational axis Ax1. The joystick 26 includes a sensor 26a. The sensor 26a outputs an operating signal indicating operating the joystick 26. The operating signal contains information regarding the tilt direction and the tilt amount of the joystick 26. The operating signal also contains information regarding the twist direction and the twist amount of the joystick 26. The rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 are controlled in accordance with the tilt amount and the tilt direction of the joystick 26.

[0020] FIG. 5 is a diagram for explaining the input device 27. The input device 27 is disposed in the vicinity of the joystick 26. When receiving an operation performed by the watercraft operator, the input device 27 outputs an operating signal. The input device 27 includes a joystick button 27a, a compass direction keeping button 27b, a fixed spot keeping button 27c, a position keeping button 27d, and a thrust regulating button 27e.

[0021] The joystick button 27b serves as a button for switching between the following modes: a joystick mode for operating the watercraft 10 with the joystick 26 and a normal watercraft operating mode for operating the watercraft 10 with the remote controller 25 and the steering wheel 24. The compass direction keeping button 27b, the fixed position keeping button 27c, and the position keeping button 27d serve as buttons for receiving operations for starting and ending a variety of controls in an automated watercraft operation.

[0022] The thrust regulating button 27e serves as a button for selecting one from a plurality of thrust levels as the thrust level for the marine propulsion device 3 in operating the watercraft 10 with the joystick 26. The upper limit of the thrust generated by the marine propulsion device 3 is increased with the increase in thrust levels. The thrust regulating button 27e includes a plus switch and a minus switch. When the plus switch is pressed once, the thrust level at this point is increased by one stage. When the minus switch is pressed once, the thrust level at this point is reduced by one stage.

[0023] The display device 28 serves as a display device for displaying information regarding the watercraft 10 and a variety of information for operating the watercraft 10. The display device 28 is made in the form of, for instance, a liquid crystal display. The display device 28 may include an input device such as a touchscreen.

[0024] The watercraft operating system 100 includes the watercraft operating controller 30. The watercraft operating controller 30 includes a processor such as a CPU and memories such as a RAM and a ROM. The watercraft operating controller 30 has stored programs and data for controlling the marine propulsion device 3. The watercraft operating controller 30 is connected to the motor controller 17 and the steering controller 18 through wired or wireless communication. The watercraft operating controller 30 is connected to the steering wheel 24, the remote controller 25, the joystick 26, the input device 27, and the display device 28 through wired or wireless communication.

[0025] The watercraft operating controller 30 outputs command signals to the motor controller 17 and the steering controller 18 based on signals outputted thereto from the sensors 24a and 25b. The watercraft operating controller 30 controls the rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 through the motor controller 17 and the steering controller 18. The watercraft operating controller 30 controls the direction of the output of the marine propulsion device 3 by controlling the rotational direction of the propeller 14.

[0026] The watercraft operating controller 30 receives an operating signal outputted thereto from the input device 27. The watercraft operating controller 30 controls the rudder angle, the magnitude of the output, and the direction of the output of the marine propulsion device 3 in accordance with the selected thrust level, the tilt direction of the joystick 26, and the tilt amount of the joystick 26. The watercraft operating controller 30 controls the marine propulsion device 3 to generate a thrust with a magnitude depending on the tilt amount of the joystick 26 (but not exceeding the upper limit to be set based on the selected thrust level) in a direction corresponding to the tilt direction of the joystick 26. The watercraft operating controller 30 increases the output of the marine propulsion device 3, the magnitude of which depends on the tilt amount of the joystick 26, with the increase in thrust levels.

[0027] The watercraft operating controller 30 changes the rudder angle of the marine propulsion device 3 such that the watercraft 10 performs bow turning in a direction corresponding to the twist direction of the joystick 26. The watercraft operating controller 30 causes the marine propulsion device 3 to generate a thrust in accordance with the twist amount of the joystick 26.

[0028] The watercraft operating controller 30 changes the rudder angle of the marine propulsion device 3 such that the watercraft 10 turns in accordance with operating the joystick 26 to not only tilt forward or rearward but also twist. At this time, the watercraft operating controller 30 causes the marine propulsion device 3 to generate a thrust in accordance with the tilt amount of the joystick 26 and changes the rudder angle of the marine propulsion device 3 such that the watercraft 10 turns in a direction corresponding to the twist direction of the joystick 26.

[0029] The watercraft operating system 100 includes a position sensor 31 and a compass sensor 32. The position sensor 31 is, for instance, a receiver for a GNSS (Global Navigation Satellite System) such as a GPS (Global Positioning System). The position sensor 31 outputs a signal indicating the present position of the watercraft 10. The position sensor 31 is connected to the watercraft operating controller 30 in a communicable manner. The watercraft operating controller 30 obtains the position of the watercraft 10 based on the signal outputted thereto from the position sensor 31.

[0030] The compass sensor 32 detects the present compass direction of the watercraft 10. The compass sensor 32 is, for instance, an IMU (Inertial Measurement Unit). The compass sensor 32 is connected to the watercraft operating controller 30 in a communicable manner.

[0031] FIG. 6 is a flowchart of a series of processing to be executed by the watercraft operating controller 30 for switching between states in the joystick mode. It should be noted that switching from the normal watercraft operating mode to the joystick mode is made by the watercraft operating controller 30 in response to a first operation for the joystick button 27a. For example, switching from the normal watercraft operating mode to the joystick mode is made by the watercraft operating controller 30 in response to the first operation for the joystick button 27a in a condition that the thrust to be generated by the marine propulsion device 3 is zero. While the steering wheel 24 or the remote controller 25 is being operated, switching from the normal watercraft operating mode to the joystick mode is not made by the watercraft operating controller 30. For example, the first operation for the joystick button 27a is an operation for quickly pressing the joystick button 27a.

[0032] When receiving an operating signal corresponding to a second operation for the joystick button 27a during the execution of the joystick mode (step S1), the watercraft operating controller 30 determines whether or not the joystick 26 is located in the neutral position (step S2); then, when determining that the joystick 26 is located in the neutral position, the watercraft operating controller 30 transitions from a normal control state to a holding standby state (step S3). For example, the second operation for the joystick button 27a is an operation for pressing and holding the joystick button 27a. The normal control state refers to a control state that a thrust is generated in accordance with operating the joystick 26 only during the operation for the joystick 26. It should be noted that when the steering wheel 24 is operated in the holding standby state, the watercraft operating controller 30 may deactivate the holding standby state. In this case, when the steering wheel 24 is operated in the holding standby state, the watercraft operating controller 30 is restored to the normal control state. The watercraft operating controller 30 may deactivate the holding standby state when the joystick button 27a is pressed and held.

[0033] When the joystick 26 is operated to tilt in the holding standby state (step S4), the watercraft operating controller 30 transitions to a holding control state for holding either the thrust generated by the marine propulsion device 3 or the watercraft speed (step S5). In the present preferred embodiment, when the joystick 26 is operated to tilt forward in the holding standby state, the watercraft operating controller 30 transitions to the holding control state. A series of control processing to be executed for holding the thrust generated by the marine propulsion device 3 in the holding control state will be hereinafter explained.

[0034] When transitioning to the holding control state, the watercraft operating controller 30 holds the thrust at a magnitude depending on operating the joystick 26 to tilt forward. When described in detail, the watercraft operating controller 30 determines whether or not a tilt operation time for operating the joystick 26 to tilt is less than a first predetermined period of time in the holding standby state; then, when the tilt operation time is less than the first predetermined period of time, the watercraft operating controller 30 transitions to the holding control state and holds the thrust at a predetermined thrust smaller in magnitude than the maximum thrust generable from the marine propulsion device 3. The first predetermined period of time is, for instance, 0.8 seconds. The predetermined thrust is set to be the minimum thrust enabling trolling. For example, the minimum thrust enabling trolling is a thrust enabling the watercraft 10 to move forward at a low speed.

[0035] When the tilt operation time is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 transitions to the holding control state and holds the thrust at a magnitude depending on the tilt operation amount of the joystick 26. At this time, the watercraft operating controller 30 holds the thrust at the maximum thrust generable during operating the joystick 26 to tilt. In other words, when the tilt operation time is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 holds the thrust at a magnitude depending on the maximum tilt amount of the joystick 26 obtained until the joystick 26 is returned to the neutral position after being operated to tilt.

[0036] The watercraft operating controller 30 increases in stages the thrust to be held in the holding control state in accordance with a first tilt operation for operating the joystick 26 to tilt from the neutral position in the moving direction of the watercraft 10 and increases the amount of change in thrust with the increase of stages. For example, as schematically shown in FIG. 7, the watercraft operating controller 30 quadratically increases the thrust in accordance with the first tilt operation for the joystick 26. Accordingly, as schematically shown in FIG. 8, the watercraft speed is enabled to increase constantly; hence, acceleration for the watercraft 10 can be realized as intended by the watercraft operator.

[0037] When the operation time of the first tilt operation is less than a second predetermined period of time, the watercraft operating controller 30 increases the thrust to be held by one stage. When the operation time of the first tilt operation is greater than or equal to the second predetermined period of time, the watercraft operating controller 30 increases in stages the thrust until the joystick 26 is returned to the neutral position. The second predetermined period of time is, for instance, 0.8 seconds.

[0038] On the other hand, the watercraft operating controller 30 reduces in stages the thrust to be held in the holding control state in accordance with a second tilt operation for operating the joystick 26 from the neutral position in a direction opposite to the moving direction of the watercraft 10 and reduces the amount of change in thrust with the reduction in stages. For example, the watercraft operating controller 30 quadratically reduces the thrust in accordance with the second tilt operation for the joystick 26. Accordingly, the watercraft speed is enabled to reduce constantly; hence, deceleration for the watercraft 10 can be realized as intended by the watercraft operator.

[0039] When the operation time of the second tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 reduces the thrust to be held by one stage.

[0040] In the holding control state, the watercraft operating controller 30 monitors whether or not a holding stop operation has been performed (step S6); then, when determining that the holding stop operation has been performed, the watercraft operating controller 30 deactivates the holding control state (step S7) and transitions to the normal control state. For example, the watercraft operating controller 30 determines that the holding stop operation has been performed when the operation time of the second tilt operation is greater than or equal to the second predetermined time. The watercraft operating controller 30 may determine that the holding stop operation has been performed when the joystick button 27a is pressed and held.

[0041] Next, a series of control processing to be executed for holding the watercraft speed in the holding control state will be explained. It should be noted that transitioning to the holding standby state and transitioning from the holding standby state to the holding control state are herein made in a comparable manner to the series of control processing to be executed for holding the thrust; hence, the explanation thereof will be hereinafter omitted.

[0042] The watercraft operating controller 30 determines whether or not the tilt operation time of the joystick 26 is less than the first predetermined period of time in the holding standby state; then, when the tilt operation time is less than the first predetermined period of time, the watercraft operating controller 30 transitions to the holding control state and holds the watercraft speed at a predetermined watercraft speed smaller in magnitude than the maximum watercraft speed set in accordance with the type of the marine propulsion device 3. The predetermined watercraft speed is set to be the minimum watercraft speed enabling trolling. The predetermined watercraft speed corresponds to a low speed at which the watercraft 10 is moved forward.

[0043] When the tilt operation time of the joystick 26 is greater than or equal to the first predetermined period of time in the holding standby state, the watercraft operating controller 30 transitions to the holding control state; simultaneously, the watercraft operating controller 30 increases the watercraft speed in accordance with the tilt operation amount of the joystick 26 and holds the watercraft speed at a speed obtained when the joystick 26 has been returned to the neutral position. In other words, when the joystick 26 has been returned to the neutral position, even though the watercraft speed has not reached a speed depending on the tilt operation amount of the joystick 26, the watercraft operating controller 30 is configured to hold the watercraft speed at a speed obtained when the joystick 26 has been returned to the neutral position. Accordingly, acute change in acceleration can be inhibited from occurring; hence, operability regarding the holding control for the joystick 26 is enhanced.

[0044] The watercraft operating controller 30 increases in stages the watercraft speed to be held in the holding control state in accordance with the first tilt operation described above. When the operation time of the first tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 increases the watercraft speed to be held by one stage; on the other hand, when the operation time of the first tilt operation is greater than or equal to the second predetermined period of time, the watercraft operating controller 30 increases in stages the watercraft speed to be held until the joystick 26 is returned to the neutral position.

[0045] The watercraft operating controller 30 reduces in stages the watercraft speed to be held in the holding control state in accordance with the second tilt operation described above. When the operation time of the second tilt operation is less than the second predetermined period of time, the watercraft operating controller 30 reduces the watercraft speed to be held by one stage.

[0046] The watercraft operating controller 30 obtains marine propulsion device information regarding the marine propulsion device 3 and changes the setting for the maximum watercraft speed and that for the predetermined watercraft speed based on the marine propulsion device information such that the maximum watercraft speed and the predetermined watercraft speed are enabled to be held in the holding control state. The marine propulsion device information contains information regarding how many marine propulsion devices, including the marine propulsion device 3, are provided and the performance of each of the marine propulsion devices. For example, the watercraft operating controller 30 obtains the information regarding the marine propulsion device 3 from the motor controller 17. Accordingly, it is made possible to set the watercraft speed of the watercraft 10 to be regulated within a speed range suitable for the type of the marine propulsion device 3; hence, the watercraft operator is enabled to easily regulate the watercraft speed to be held in the holding control state.

[0047] In the watercraft operating system 100 according to the present preferred embodiment explained above, the watercraft operating controller 30 executes the following control: when the joystick 26 is not being operated, the watercraft operating controller 30 transitions to the holding standby state in accordance with operating the input device 27; then, when the joystick 26 is operated to tilt in the holding standby state, the watercraft operating controller 30 transitions to the holding control state. Accordingly, it is made possible to achieve enhancement in operability regarding the holding control for the joystick 26.

[0048] By quickly tilting the joystick 26 (i.e., when the operation time of the first tilt operation is less than a predetermined period of time) in the holding standby state, the thrust of the marine propulsion device 3 (or the watercraft speed) is enabled to be held at the minimum thrust (or the minimum watercraft speed) enabling trolling. Accordingly, the thrust of the marine propulsion device 3 (or the watercraft speed) can be easily and quickly fixed at the minimum thrust (or the minimum watercraft speed) enabling trolling.

[0049] One preferred embodiment of the present invention has been explained above. However, the present invention is not limited to the preferred embodiment described above and a variety of changes can be made without departing from the gist of the present invention.

[0050] In the preferred embodiment described above, the watercraft 10 includes a single electric outboard motor; however, the watercraft 10 may include two outboard motors, or alternatively, three or more outboard motors. Besides, the marine propulsion device 3 may be a type of outboard motor including an internal combustion engine.

[0051] While executing the normal watercraft operating mode, the watercraft operating controller 30 may be configured to transition to the holding standby state of the joystick mode in response to the second operation for the joystick button 27a. In other words, for instance, the watercraft operating controller 30 may transition to the holding standby state of the joystick mode in response to the second operation for the joystick button 27a when the thrust to be generated by the marine propulsion device 3 is zero, and simultaneously, when the joystick 26 is located in the neutral position.REFERENCE SIGNS LIST

[0052] 3: Marine propulsion device, 4: Operating portion, 10: Watercraft, 26: Joystick, 27: Input device, 30: Watercraft operating controller, 100: Watercraft operating system

Claims

1. A system (100) for controlling a watercraft (10), the system (100) comprising: a marine propulsion device (3) configured to generate a thrust for propelling the watercraft (10); an operating portion (4) including a joystick (26) operable to tilt; an input device (27) configured to output an operating signal; and a controller (30) configured or programed to control both a magnitude and an orientation of the thrust in accordance with operating the operating portion (4), wherein the controller (30) is configured or programed to determine whether or not the joystick (26) is located in a neutral position when receiving the operating signal, transition to a holding standby state when the controller (30) determines that the joystick (26) is located in the neutral position, and transition to a holding control state for holding the thrust or a watercraft (10) speed when the joystick (26) is operated to tilt in the holding standby state.

2. The system (100) according to claim 1, wherein the controller (30) is further configured or programed to determine whether or not a tilt operation time is less than a first predetermined period of time in the holding standby state, the tilt operation time defined as a period of time for operating the joystick (26) to tilt, hold the thrust at a predetermined thrust when the tilt operation time is less than the first predetermined period of time, the predetermined thrust being smaller in magnitude than a maximum thrust generable from the marine propulsion device (3), and hold the thrust at a magnitude depending on a tilt operation amount of the joystick (26) when the tilt operation time is greater than or equal to the first predetermined period of time.

3. The system (100) according to claim 2, wherein the predetermined thrust is set to be a minimum thrust enabling trolling.

4. The system (100) according to claim 2 or 3, wherein the controller (30) is further configured or programed to hold the thrust at a maximum thrust generable during operating the joystick (26) to tilt when the tilt operation time is greater than or equal to the first predetermined period of time.

5. The system (100) according to any one of claims 2 to 4, wherein the controller (30) is further configured or programed to increase in stages the thrust to be held in the holding control state in accordance with a first operation for operating the joystick (26) to tilt from the neutral position in a moving direction of the watercraft (10), and increase an amount of change of the thrust with increase in stages.

6. The system (100) according to claim 5, wherein the controller (30) is further configured or programed to increase the thrust to be held by one stage when the tilt operation time of the first operation is less than a second predetermined period of time, and increase in stages the thrust until the joystick (26) is returned to the neutral position when the tilt operation time of the first operation is greater than or equal to the second predetermined period of time.

7. The system (100) according to claim 5 or 6, wherein the controller (30) is further configured or programed to reduce in stages the thrust to be held in the holding control state in accordance with a second operation for operating the joystick (26) to tilt from the neutral position in a direction opposite to the moving direction of the watercraft (10), and reduce the amount of change of the thrust with reduction in stages.

8. The system (100) according to claim 7, wherein the controller (30) is further configured or programed to reduce the thrust to be held by one stage when the tilt operation time of the second operation is less than a second predetermined period of time, and deactivate the holding control state when the tilt operation time of the second operation is greater than or equal to the second predetermined period of time.

9. The system (100) according to claim 1, wherein the controller (30) is further configured or programed to determine whether or not a tilt operation time for operating the joystick (26) to tilt is less than a first predetermined period of time in the holding standby state, hold the watercraft (10) speed at a predetermined watercraft (10) speed smaller in magnitude than a maximum watercraft (10) speed when the tilt operation time is less than the first predetermined period of time, the maximum watercraft (10) speed set in accordance with a type of the marine propulsion device (3), and increase the watercraft (10) speed in accordance with a tilt operation amount of the joystick (26) when the tilt operation time is greater than or equal to the first predetermined period of time, and when the tilt operation time is greater than or equal to the first predetermined period of time, the controller (30) is further configured or programed to hold the watercraft (10) speed at a speed obtained when the joystick (26) has been returned to the neutral position.

10. The system (100) according to claim 9, wherein the controller (30) is further configured or programed to increase in stages the watercraft (10) speed to be held in the holding control state in accordance with a first operation for operating the joystick (26) to tilt from the neutral position in a moving direction of the watercraft (10), reduce in stages the watercraft (10) speed to be held in the holding control state in accordance with a second operation for operating the joystick (26) to tilt from the neutral position in a direction opposite to the moving direction of the watercraft (10), increase the watercraft (10) speed to be held by one stage when the tilt operation time of the first operation is less than a second predetermined period of time, and increase in stages the watercraft (10) speed to be held until the joystick (26) is returned to the neutral position when the tilt operation time of the first operation is greater than or equal to the second predetermined period of time.

11. The system (100) according to claim 9 or 10, wherein the predetermined watercraft (10) speed is set to be a minimum watercraft (10) speed enabling trolling.

12. The system (100) according to any one of claims 9 to 11, wherein the controller (30) is further configured or programed to obtain marine propulsion device (3) information regarding the marine propulsion device (3), and change a setting for the maximum watercraft (10) speed and a setting for the predetermined watercraft (10) speed based on the marine propulsion device (3) information such that the maximum watercraft (10) speed and the predetermined watercraft (10) speed are enabled to be held in the holding control state, and the marine propulsion device (3) information contains information regarding how many marine propulsion devices (3) including the marine propulsion device (3) are provided and a performance of each of the marine propulsion devices (3).

13. The system (100) according to any one of claims 1 to 12, wherein the operating portion (4) further includes a steering wheel, and the controller (30) is further configured or programed to deactivate the holding control state when the steering wheel is operated in the holding control state.

14. The system (100) according to claim 13, wherein the controller (30) is further configured or programed to deactivate the holding standby state when the steering wheel is operated in the holding standby state.

15. A watercraft (10) comprising: a hull (2); and the system (100) according to any one of claims 1, the system (100) disposed in the hull(2).

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