Boat

A boat comprising:

• a vessel body;
• a propulsion system coupled to the vessel body comprising:
• one or more engines;
• a first outdrive device coupled to the one or more engines;
• a second outdrive device coupled to the one or more engines;
• a steering system comprising:
• a steering device configured to change a cruising direction of the vessel body;
• a steering sensor configured to detect a first operation amount of the steering device at a first time and detect a second operation amount of the steering device at a second time;
• a memory storing instructions;
• and
• a processor operationally coupled to the memory, the propulsion system, and the steering system, the processor configured to execute the instructions to cause the processor to:
• receive, from the steering sensor, an indication of the first operation amount of the steering device;
• compare the first operation amount to a first threshold;
• based on a determination that the first operation amount is less than the first threshold, control an output direction of the first outdrive device to be the same as an output direction of the second outdrive device;
• and
• based on a determination that the second operation amount is greater than the first threshold, control the output direction of the first outdrive device to be opposite to the output direction of the second outdrive device.

A computer readable storage device comprising instructions, that when executed by a processor, cause the processor to:

• receive, from a steering sensor, an indication of a first operation amount of a steering device of a boat comprising a vessel body and a propulsion system, steering device configured to change a cruising direction of the vessel body, the propulsion system including a first outdrive device and a second outdrive device;
• and
• based on a determination that the first operation amount is less than a first threshold, initiate execution of a non-pivot turn of the vessel body;
• and
• based at least in part on a determination that a second operation amount of the steering device is greater than the first threshold, initiate execution of a pivot turn of the vessel body.