GCS_MAVLink: send SCALED_PRESSURE2 if available

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -1044,13 +1044,25 @@ void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &comp
 
 void GCS_MAVLINK::send_scaled_pressure(AP_Baro &barometer)
 {
-    float pressure = barometer.get_pressure();
+    uint32_t now = hal.scheduler->millis();
+    float pressure = barometer.get_pressure(0);
     mavlink_msg_scaled_pressure_send(
         chan,
-        hal.scheduler->millis(),
+        now,
         pressure*0.01f, // hectopascal
-        (pressure - barometer.get_ground_pressure())*0.01f, // hectopascal
-        barometer.get_temperature()*100); // 0.01 degrees C
+        (pressure - barometer.get_ground_pressure(0))*0.01f, // hectopascal
+        barometer.get_temperature(0)*100); // 0.01 degrees C
+#if BARO_MAX_INSTANCES > 1
+    if (barometer.num_instances() > 1) {
+        pressure = barometer.get_pressure(1);
+        mavlink_msg_scaled_pressure2_send(
+            chan,
+            now,
+            pressure*0.01f, // hectopascal
+            (pressure - barometer.get_ground_pressure(1))*0.01f, // hectopascal
+            barometer.get_temperature(1)*100); // 0.01 degrees C        
+    }
+#endif
 }
 
 void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer)