Method for controlling a boat comprising a pivotable drive unit, and a electronic vessel control unit for steering a boat

An electronic vessel control unit for steering a boat, the boat being adapted to float in a body of water, the boat comprising a hull having a longitudinal extension along a hull longitudinal axis, a lateral extension along a hull lateral axis and a vertical extension along a hull vertical axis, the boat also comprising a set of drive units, the set of drive units comprising at least one drive unit, each drive unit in the set being arranged such that it, during driving of the boat, is

• adapted to be at least partially submerged into the body of water;
• adapted to be pivotable, relative to the hull, around a drive unit longitudinal axis that is substantially parallel to the hull longitudinal axis such that a drive unit roll angle can be varied, and
• adapted to be pivotable, relative to the hull, around a steering axis that forms an angle with the drive unit longitudinal axis such that a drive unit steering angle can be varied,
• the electronic vessel control unit being adapted to:
• establish a boat roll threshold value;
• determine a target boat roll angle, and
• issue a control signal to each drive unit in the set of drive units, the control signal being indicative of a drive unit steering angle and a drive unit roll angle such that a resulting boat roll angle is obtained, the absolute value of the difference between the resulting boat roll angle and the target boat roll angle being smaller than the boat roll threshold value.