An error for a Calculation formula at the page feature-actuator

[marschongyuzhang]

Hello,
I am from the technical university of munich in germany now working for the bluerov project and i found a wrong formula at the Unmanned Underwater Vehicle Simulator Documentation-UUV Simulator-Features-Actuators.
This formula

from Bessa and Yoeger's artikel should be the following formular, also the omega + 1/Jmsp * the whole formular.

I hope you can have a look about that thanks a lot.
Chongyu Zhang.