Control device for marine propulsion system and marine vessel

A marine vessel comprising:

• a hull;
• a plurality of propulsion devices on the hull;
• and
• a controller for the plurality of propulsion devices, the controller being configured or programmed to:
• define and function as a first obtainer configured or programmed to obtain a target docking position that is a final target position during docking, a target position offshore from the target docking position in a direction perpendicular to a shore, and a target heading during docking;
• execute a moving process to control the plurality of propulsion devices in an actual heading coordinate system based on an actual heading of the hull so that the hull will reach the target position and the actual heading will align with the target heading;
• define and function as a second obtainer configured or programmed to obtain a relative position of the hull with respect to the target position and the actual heading of the hull;
• and
• a determiner configured or programmed to determine whether a correction process to align or bring closer the actual heading with the target heading without correcting a lateral position of the hull can be performed based on the relative position and the actual heading prior to start of the moving process;
• wherein
• the controller is configured or programmed to start the moving process without executing the correction process when it is determined that the correction process cannot be performed, and execute the correction process before the movement process is started when it is determined that the correction process can be performed.