The remains of the Castle can be visited
Marstetten Castle (Ruin)

Northwest of Aitrach in the Ravensburg district of Baden-Württemberg, the Marstetten ruin, a former hilltop castle, is located. Its strategic location on the edge of the Iller valley and its historical function as a border marker.
History+
The origins of Marstetten Castle date back to the 11th century, when it was presumably built by a branch of the Margraves of Ursin-Ronsberg. As early as 838, the site served as a Kempten border post, separating the Illergau from the Nibelgau, and the territory of Kempten Abbey from Ottobeuren Monastery. The County of Marstetten held high jurisdiction, with Memmingen serving as the court of law. In 1281, it was a fief of Kempten Abbey, and in 1351, it belonged to the von Königsegg family. In 1525, it was plundered by farmers, and in 1566, it passed to the Imperial Hereditary Steward of Waldburg. The castle was finally destroyed during the Thirty Years' War by Swedish troops and was not rebuilt thereafter.
Source: Wikipedia · Licence: CC BY-SA 4.0
This description draws on the facts documented in the linked Wikipedia article; Wikipedia content is licensed under CC BY-SA 4.0. Wording and editing: Mobile History.
Location: 47.9481, 10.0775