src/FDM/JSBSim/models/FGMassBalance.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGMassBalance.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 09/12/2000
   6  Purpose:      This module models weight and balance
   7
   8  ------------- Copyright (C) 2000  Jon S. Berndt (jon@jsbsim.org) --------------
   9
  10  This program is free software; you can redistribute it and/or modify it under
  11  the terms of the GNU Lesser General Public License as published by the Free Software
  12  Foundation; either version 2 of the License, or (at your option) any later
  13  version.
  14
  15  This program is distributed in the hope that it will be useful, but WITHOUT
  16  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  17  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  18  details.
  19
  20  You should have received a copy of the GNU Lesser General Public License along with
  21  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  22  Place - Suite 330, Boston, MA  02111-1307, USA.
  23
  24  Further information about the GNU Lesser General Public License can also be found on
  25  the world wide web at http://www.gnu.org.
  26
  27 FUNCTIONAL DESCRIPTION
  28 --------------------------------------------------------------------------------
  29
  30 This class models the change in weight and balance of the aircraft due to fuel
  31 burnoff, etc.
  32
  33 HISTORY
  34 --------------------------------------------------------------------------------
  35 09/12/2000  JSB  Created
  36
  37 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include "FGMassBalance.h"
  42 #include "FGPropulsion.h"
  43 #include "propulsion/FGTank.h"
  44 #include "FGBuoyantForces.h"
  45 #include "input_output/FGPropertyManager.h"
  46 #include <iostream>
  47 #include <iomanip>
  48 #include <cstdlib>
  49
  50 using namespace std;
  51
  52 namespace JSBSim {
  53
  54 static const char *IdSrc = "$Id: FGMassBalance.cpp,v 1.35 2011/05/20 03:18:36 jberndt Exp $";
  55 static const char *IdHdr = ID_MASSBALANCE;
  56
  57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  58 CLASS IMPLEMENTATION
  59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  60
  61
  62 FGMassBalance::FGMassBalance(FGFDMExec* fdmex) : FGModel(fdmex)
  63 {
  64   Name = "FGMassBalance";
  65   Weight = EmptyWeight = Mass = 0.0;
  66
  67   vbaseXYZcg.InitMatrix(0.0);
  68   vXYZcg.InitMatrix(0.0);
  69   vLastXYZcg.InitMatrix(0.0);
  70   vDeltaXYZcg.InitMatrix(0.0);
  71   baseJ.InitMatrix();
  72   mJ.InitMatrix();
  73   mJinv.InitMatrix();
  74   pmJ.InitMatrix();
  75
  76   bind();
  77
  78   Debug(0);
  79 }
  80
  81 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  82
  83 FGMassBalance::~FGMassBalance()
  84 {
  85   for (unsigned int i=0; i<PointMasses.size(); i++) delete PointMasses[i];
  86   PointMasses.clear();
  87
  88   Debug(1);
  89 }
  90
  91 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  92
  93 bool FGMassBalance::InitModel(void)
  94 {
  95   vLastXYZcg.InitMatrix(0.0);
  96   vDeltaXYZcg.InitMatrix(0.0);
  97
  98   return true;
  99 }
 100
 101 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 102
 103 bool FGMassBalance::Load(Element* el)
 104 {
 105   Element *element;
 106   string element_name = "";
 107   double bixx, biyy, bizz, bixy, bixz, biyz;
 108
 109   FGModel::Load(el); // Perform base class Load.
 110
 111   bixx = biyy = bizz = bixy = bixz = biyz = 0.0;
 112   if (el->FindElement("ixx"))
 113     bixx = el->FindElementValueAsNumberConvertTo("ixx", "SLUG*FT2");
 114   if (el->FindElement("iyy"))
 115     biyy = el->FindElementValueAsNumberConvertTo("iyy", "SLUG*FT2");
 116   if (el->FindElement("izz"))
 117     bizz = el->FindElementValueAsNumberConvertTo("izz", "SLUG*FT2");
 118   if (el->FindElement("ixy"))
 119     bixy = el->FindElementValueAsNumberConvertTo("ixy", "SLUG*FT2");
 120   if (el->FindElement("ixz"))
 121     bixz = el->FindElementValueAsNumberConvertTo("ixz", "SLUG*FT2");
 122   if (el->FindElement("iyz"))
 123     biyz = el->FindElementValueAsNumberConvertTo("iyz", "SLUG*FT2");
 124   SetAircraftBaseInertias(FGMatrix33(  bixx,  -bixy,  bixz,
 125                                       -bixy,  biyy,  -biyz,
 126                                        bixz,  -biyz,  bizz ));
 127   if (el->FindElement("emptywt")) {
 128     EmptyWeight = el->FindElementValueAsNumberConvertTo("emptywt", "LBS");
 129   }
 130
 131   element = el->FindElement("location");
 132   while (element) {
 133     element_name = element->GetAttributeValue("name");
 134     if (element_name == "CG") vbaseXYZcg = element->FindElementTripletConvertTo("IN");
 135     element = el->FindNextElement("location");
 136   }
 137
 138 // Find all POINTMASS elements that descend from this METRICS branch of the
 139 // config file.
 140
 141   element = el->FindElement("pointmass");
 142   while (element) {
 143     AddPointMass(element);
 144     element = el->FindNextElement("pointmass");
 145   }
 146
 147   double ChildFDMWeight = 0.0;
 148   for (int fdm=0; fdm<FDMExec->GetFDMCount(); fdm++) {
 149     if (FDMExec->GetChildFDM(fdm)->mated) ChildFDMWeight += FDMExec->GetChildFDM(fdm)->exec->GetMassBalance()->GetWeight();
 150   }
 151
 152   Weight = EmptyWeight + FDMExec->GetPropulsion()->GetTanksWeight() + GetTotalPointMassWeight()
 153     + FDMExec->GetBuoyantForces()->GetGasMass()*slugtolb + ChildFDMWeight;
 154
 155   Mass = lbtoslug*Weight;
 156
 157   PostLoad(el, PropertyManager);
 158
 159   Debug(2);
 160   return true;
 161 }
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164
 165 bool FGMassBalance::Run(bool Holding)
 166 {
 167   double denom, k1, k2, k3, k4, k5, k6;
 168   double Ixx, Iyy, Izz, Ixy, Ixz, Iyz;
 169
 170   if (FGModel::Run(Holding)) return true;
 171   if (Holding) return false;
 172
 173   RunPreFunctions();
 174
 175   double ChildFDMWeight = 0.0;
 176   for (int fdm=0; fdm<FDMExec->GetFDMCount(); fdm++) {
 177     if (FDMExec->GetChildFDM(fdm)->mated) ChildFDMWeight += FDMExec->GetChildFDM(fdm)->exec->GetMassBalance()->GetWeight();
 178   }
 179
 180   Weight = EmptyWeight + FDMExec->GetPropulsion()->GetTanksWeight() + GetTotalPointMassWeight()
 181     + FDMExec->GetBuoyantForces()->GetGasMass()*slugtolb + ChildFDMWeight;
 182
 183   Mass = lbtoslug*Weight;
 184
 185 // Calculate new CG
 186
 187   vXYZcg = (FDMExec->GetPropulsion()->GetTanksMoment() + EmptyWeight*vbaseXYZcg
 188             + GetPointMassMoment()
 189             + FDMExec->GetBuoyantForces()->GetGasMassMoment()) / Weight;
 190
 191   // Track frame-by-frame delta CG, and move the EOM-tracked location
 192   // by this amount.
 193   if (vLastXYZcg.Magnitude() == 0.0) vLastXYZcg = vXYZcg;
 194   vDeltaXYZcg = vXYZcg - vLastXYZcg;
 195   vDeltaXYZcgBody = StructuralToBody(vLastXYZcg) - StructuralToBody(vXYZcg);
 196   vLastXYZcg = vXYZcg;
 197   FDMExec->GetPropagate()->NudgeBodyLocation(vDeltaXYZcgBody);
 198
 199 // Calculate new total moments of inertia
 200
 201   // At first it is the base configuration inertia matrix ...
 202   mJ = baseJ;
 203   // ... with the additional term originating from the parallel axis theorem.
 204   mJ += GetPointmassInertia( lbtoslug * EmptyWeight, vbaseXYZcg );
 205   // Then add the contributions from the additional pointmasses.
 206   mJ += CalculatePMInertias();
 207   mJ += FDMExec->GetPropulsion()->CalculateTankInertias();
 208   mJ += FDMExec->GetBuoyantForces()->GetGasMassInertia();
 209
 210   Ixx = mJ(1,1);
 211   Iyy = mJ(2,2);
 212   Izz = mJ(3,3);
 213   Ixy = -mJ(1,2);
 214   Ixz = -mJ(1,3);
 215   Iyz = -mJ(2,3);
 216
 217 // Calculate inertia matrix inverse (ref. Stevens and Lewis, "Flight Control & Simulation")
 218
 219   k1 = (Iyy*Izz - Iyz*Iyz);
 220   k2 = (Iyz*Ixz + Ixy*Izz);
 221   k3 = (Ixy*Iyz + Iyy*Ixz);
 222
 223   denom = 1.0/(Ixx*k1 - Ixy*k2 - Ixz*k3 );
 224   k1 = k1*denom;
 225   k2 = k2*denom;
 226   k3 = k3*denom;
 227   k4 = (Izz*Ixx - Ixz*Ixz)*denom;
 228   k5 = (Ixy*Ixz + Iyz*Ixx)*denom;
 229   k6 = (Ixx*Iyy - Ixy*Ixy)*denom;
 230
 231   mJinv.InitMatrix( k1, k2, k3,
 232                     k2, k4, k5,
 233                     k3, k5, k6 );
 234
 235   RunPostFunctions();
 236
 237   Debug(0);
 238
 239   return false;
 240 }
 241
 242 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 243
 244 void FGMassBalance::AddPointMass(Element* el)
 245 {
 246   double radius=0, length=0;
 247   Element* loc_element = el->FindElement("location");
 248   string pointmass_name = el->GetAttributeValue("name");
 249   if (!loc_element) {
 250     cerr << "Pointmass " << pointmass_name << " has no location." << endl;
 251     exit(-1);
 252   }
 253
 254   double w = el->FindElementValueAsNumberConvertTo("weight", "LBS");
 255   FGColumnVector3 vXYZ = loc_element->FindElementTripletConvertTo("IN");
 256
 257   PointMass *pm = new PointMass(w, vXYZ);
 258   pm->SetName(pointmass_name);
 259
 260   Element* form_element = el->FindElement("form");
 261   if (form_element) {
 262     string shape = form_element->GetAttributeValue("shape");
 263     Element* radius_element = form_element->FindElement("radius");
 264     Element* length_element = form_element->FindElement("length");
 265     if (radius_element) radius = form_element->FindElementValueAsNumberConvertTo("radius", "FT");
 266     if (length_element) length = form_element->FindElementValueAsNumberConvertTo("length", "FT");
 267     if (shape == "tube") {
 268       pm->SetPointMassShapeType(PointMass::esTube);
 269       pm->SetRadius(radius);
 270       pm->SetLength(length);
 271       pm->CalculateShapeInertia();
 272     } else if (shape == "cylinder") {
 273       pm->SetPointMassShapeType(PointMass::esCylinder);
 274       pm->SetRadius(radius);
 275       pm->SetLength(length);
 276       pm->CalculateShapeInertia();
 277     } else if (shape == "sphere") {
 278       pm->SetPointMassShapeType(PointMass::esSphere);
 279       pm->SetRadius(radius);
 280       pm->CalculateShapeInertia();
 281     } else if (shape == "ball") {
 282       pm->SetPointMassShapeType(PointMass::esBall);
 283       pm->SetRadius(radius);
 284       pm->CalculateShapeInertia();
 285     } else {
 286     }
 287   }
 288
 289   pm->bind(PropertyManager, PointMasses.size());
 290   PointMasses.push_back(pm);
 291 }
 292
 293 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 294
 295 double FGMassBalance::GetTotalPointMassWeight(void)
 296 {
 297   double PM_total_weight = 0.0;
 298
 299   for (unsigned int i=0; i<PointMasses.size(); i++) {
 300     PM_total_weight += PointMasses[i]->Weight;
 301   }
 302   return PM_total_weight;
 303 }
 304
 305 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 306
 307 FGColumnVector3& FGMassBalance::GetPointMassMoment(void)
 308 {
 309   PointMassCG.InitMatrix();
 310
 311   for (unsigned int i=0; i<PointMasses.size(); i++) {
 312     PointMassCG += PointMasses[i]->Weight*PointMasses[i]->Location;
 313   }
 314   return PointMassCG;
 315 }
 316
 317 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 318
 319 FGMatrix33& FGMassBalance::CalculatePMInertias(void)
 320 {
 321   unsigned int size;
 322
 323   size = PointMasses.size();
 324   if (size == 0) return pmJ;
 325
 326   pmJ = FGMatrix33();
 327
 328   for (unsigned int i=0; i<size; i++) {
 329     pmJ += GetPointmassInertia( lbtoslug * PointMasses[i]->Weight, PointMasses[i]->Location );
 330     pmJ += PointMasses[i]->GetPointMassInertia();
 331   }
 332
 333   return pmJ;
 334 }
 335
 336 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 337
 338 FGColumnVector3 FGMassBalance::StructuralToBody(const FGColumnVector3& r) const
 339 {
 340   // Under the assumption that in the structural frame the:
 341   //
 342   // - X-axis is directed afterwards,
 343   // - Y-axis is directed towards the right,
 344   // - Z-axis is directed upwards,
 345   //
 346   // (as documented in http://jsbsim.sourceforge.net/JSBSimCoordinates.pdf)
 347   // we have to subtract first the center of gravity of the plane which
 348   // is also defined in the structural frame:
 349   //
 350   //   FGColumnVector3 cgOff = r - vXYZcg;
 351   //
 352   // Next, we do a change of units:
 353   //
 354   //   cgOff *= inchtoft;
 355   //
 356   // And then a 180 degree rotation is done about the Y axis so that the:
 357   //
 358   // - X-axis is directed forward,
 359   // - Y-axis is directed towards the right,
 360   // - Z-axis is directed downward.
 361   //
 362   // This is needed because the structural and body frames are 180 degrees apart.
 363
 364   return FGColumnVector3(inchtoft*(vXYZcg(1)-r(1)),
 365                          inchtoft*(r(2)-vXYZcg(2)),
 366                          inchtoft*(vXYZcg(3)-r(3)));
 367 }
 368
 369 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 370
 371 void FGMassBalance::bind(void)
 372 {
 373   typedef double (FGMassBalance::*PMF)(int) const;
 374   PropertyManager->Tie("inertia/mass-slugs", this,
 375                        &FGMassBalance::GetMass);
 376   PropertyManager->Tie("inertia/weight-lbs", this,
 377                        &FGMassBalance::GetWeight);
 378   PropertyManager->Tie("inertia/empty-weight-lbs", this,
 379                        &FGMassBalance::GetEmptyWeight);
 380   PropertyManager->Tie("inertia/cg-x-in", this,1,
 381                        (PMF)&FGMassBalance::GetXYZcg);
 382   PropertyManager->Tie("inertia/cg-y-in", this,2,
 383                        (PMF)&FGMassBalance::GetXYZcg);
 384   PropertyManager->Tie("inertia/cg-z-in", this,3,
 385                        (PMF)&FGMassBalance::GetXYZcg);
 386 }
 387
 388 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 389 //
 390 // This function binds properties for each pointmass object created.
 391 //
 392 void FGMassBalance::PointMass::bind(FGPropertyManager* PropertyManager, int num) {
 393   string tmp = CreateIndexedPropertyName("inertia/pointmass-weight-lbs", num);
 394   PropertyManager->Tie( tmp.c_str(), this, &PointMass::GetPointMassWeight,
 395                                        &PointMass::SetPointMassWeight);
 396
 397   tmp = CreateIndexedPropertyName("inertia/pointmass-location-X-inches", num);
 398   PropertyManager->Tie( tmp.c_str(), this, eX, &PointMass::GetPointMassLocation,
 399                                            &PointMass::SetPointMassLocation);
 400   tmp = CreateIndexedPropertyName("inertia/pointmass-location-Y-inches", num);
 401   PropertyManager->Tie( tmp.c_str(), this, eY, &PointMass::GetPointMassLocation,
 402                                            &PointMass::SetPointMassLocation);
 403   tmp = CreateIndexedPropertyName("inertia/pointmass-location-Z-inches", num);
 404   PropertyManager->Tie( tmp.c_str(), this, eZ, &PointMass::GetPointMassLocation,
 405                                            &PointMass::SetPointMassLocation);
 406 }
 407
 408 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 409
 410 void FGMassBalance::GetMassPropertiesReport(void) const
 411 {
 412   cout << endl << fgblue << highint
 413        << "  Mass Properties Report (English units: lbf, in, slug-ft^2)"
 414        << reset << endl;
 415   cout << "                                  " << underon << "    Weight    CG-X    CG-Y"
 416        << "    CG-Z         Ixx         Iyy         Izz" << underoff << endl;
 417   cout.precision(1);
 418   cout << highint << setw(34) << left << "    Base Vehicle " << normint
 419        << right << setw(10) << EmptyWeight << setw(8) << vbaseXYZcg(eX) << setw(8)
 420        << vbaseXYZcg(eY) << setw(8) << vbaseXYZcg(eZ) << setw(12) << baseJ(1,1)
 421        << setw(12) << baseJ(2,2) << setw(12) << baseJ(3,3) << endl;
 422
 423   for (unsigned int i=0;i<PointMasses.size();i++) {
 424     PointMass* pm = PointMasses[i];
 425     double pmweight = pm->GetPointMassWeight();
 426     cout << highint << left << setw(4) << i << setw(30) << pm->GetName() << normint
 427          << right << setw(10) << pmweight << setw(8) << pm->GetLocation()(eX)
 428          << setw(8) << pm->GetLocation()(eY) << setw(8) << pm->GetLocation()(eZ)
 429          << setw(12) << pm->GetPointMassMoI(1,1) << setw(12) << pm->GetPointMassMoI(2,2)
 430          << setw(12) << pm->GetPointMassMoI(3,3) << endl;
 431   }
 432
 433   for (unsigned int i=0;i<FDMExec->GetPropulsion()->GetNumTanks() ;i++) {
 434     FGTank* tank = FDMExec->GetPropulsion()->GetTank(i);
 435     string tankname="";
 436     if (tank->GetType() == FGTank::ttFUEL && tank->GetGrainType() != FGTank::gtUNKNOWN) {
 437       tankname = "Solid Fuel";
 438     } else if (tank->GetType() == FGTank::ttFUEL) {
 439       tankname = "Fuel";
 440     } else if (tank->GetType() == FGTank::ttOXIDIZER) {
 441       tankname = "Oxidizer";
 442     } else {
 443       tankname = "(Unknown tank type)";
 444     }
 445     cout << highint << left << setw(4) << i << setw(30) << tankname << normint
 446       << right << setw(10) << tank->GetContents() << setw(8) << tank->GetXYZ(eX)
 447          << setw(8) << tank->GetXYZ(eY) << setw(8) << tank->GetXYZ(eZ)
 448          << setw(12) << "*" << setw(12) << "*"
 449          << setw(12) << "*" << endl;
 450   }
 451
 452   cout << underon << setw(104) << " " << underoff << endl;
 453   cout << highint << left << setw(30) << "    Total: " << right << setw(14) << Weight
 454        << setw(8) << vXYZcg(eX)
 455        << setw(8) << vXYZcg(eY)
 456        << setw(8) << vXYZcg(eZ)
 457        << setw(12) << mJ(1,1)
 458        << setw(12) << mJ(2,2)
 459        << setw(12) << mJ(3,3)
 460        << normint << endl;
 461
 462   cout.setf(ios_base::fixed);
 463 }
 464
 465 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 466 //    The bitmasked value choices are as follows:
 467 //    unset: In this case (the default) JSBSim would only print
 468 //       out the normally expected messages, essentially echoing
 469 //       the config files as they are read. If the environment
 470 //       variable is not set, debug_lvl is set to 1 internally
 471 //    0: This requests JSBSim not to output any messages
 472 //       whatsoever.
 473 //    1: This value explicity requests the normal JSBSim
 474 //       startup messages
 475 //    2: This value asks for a message to be printed out when
 476 //       a class is instantiated
 477 //    4: When this value is set, a message is displayed when a
 478 //       FGModel object executes its Run() method
 479 //    8: When this value is set, various runtime state variables
 480 //       are printed out periodically
 481 //    16: When set various parameters are sanity checked and
 482 //       a message is printed out when they go out of bounds
 483
 484 void FGMassBalance::Debug(int from)
 485 {
 486   if (debug_lvl <= 0) return;
 487
 488   if (debug_lvl & 1) { // Standard console startup message output
 489     if (from == 2) { // Loading
 490       cout << endl << "  Mass and Balance:" << endl;
 491       cout << "    baseIxx: " << baseJ(1,1) << " slug-ft2" << endl;
 492       cout << "    baseIyy: " << baseJ(2,2) << " slug-ft2" << endl;
 493       cout << "    baseIzz: " << baseJ(3,3) << " slug-ft2" << endl;
 494       cout << "    baseIxy: " << baseJ(1,2) << " slug-ft2" << endl;
 495       cout << "    baseIxz: " << baseJ(1,3) << " slug-ft2" << endl;
 496       cout << "    baseIyz: " << baseJ(2,3) << " slug-ft2" << endl;
 497       cout << "    Empty Weight: " << EmptyWeight << " lbm" << endl;
 498       cout << "    CG (x, y, z): " << vbaseXYZcg << endl;
 499       // ToDo: Need to add point mass outputs here
 500       for (unsigned int i=0; i<PointMasses.size(); i++) {
 501         cout << "    Point Mass Object: " << PointMasses[i]->Weight << " lbs. at "
 502                    << "X, Y, Z (in.): " << PointMasses[i]->Location(eX) << "  "
 503                    << PointMasses[i]->Location(eY) << "  "
 504                    << PointMasses[i]->Location(eZ) << endl;
 505       }
 506     }
 507   }
 508   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 509     if (from == 0) cout << "Instantiated: FGMassBalance" << endl;
 510     if (from == 1) cout << "Destroyed:    FGMassBalance" << endl;
 511   }
 512   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 513   }
 514   if (debug_lvl & 8 ) { // Runtime state variables
 515   }
 516   if (debug_lvl & 16) { // Sanity checking
 517     if (from == 2) {
 518       if (EmptyWeight <= 0.0 || EmptyWeight > 1e9)
 519         cout << "MassBalance::EmptyWeight out of bounds: " << EmptyWeight << endl;
 520       if (Weight <= 0.0 || Weight > 1e9)
 521         cout << "MassBalance::Weight out of bounds: " << Weight << endl;
 522       if (Mass <= 0.0 || Mass > 1e9)
 523         cout << "MassBalance::Mass out of bounds: " << Mass << endl;
 524     }
 525   }
 526   if (debug_lvl & 64) {
 527     if (from == 0) { // Constructor
 528       cout << IdSrc << endl;
 529       cout << IdHdr << endl;
 530     }
 531   }
 532 }
 533 }