Measured Measured Wind Speed & Direction

Position & Heading Wind Draught Input

Model
Error
Kalman Comp. Wind
Filter
Error
force Force
Position & Computation
Heading Current
Predicted Vessel
Difference
Position & Model External
Heading Update Forces

Thruster
Vessel Model
Force Speed & Acceleration Settings
Estimated
Drag Position & Carrot
Estimated
Force Speed Heading New Setpoint Computation

Position & Heading

Draught Input Drag Position & Present Setpoint
Computation Heading
Deviation

Damping Gain Selected

Control Control Gain

Demand from Joystick

Joystick Force
Joystick
Demand Feed Forward
Gain
Controller
Resulting Force
Demand
Joystick
Settings Thruster
Allocation Thruster Allocation Mode

Thruster
Setpoints

Thruster Power Generator Status

Overload Bus Switch Status
Model
Control
Power Consumption
Thruster Thruster
Feedback Setpoints
Thruster Thruster
Feedback Thrusters Command
System System