Plane: report both sets of sensors in MAVLink

ArduPlane/GCS_Mavlink.pde

@@ -430,6 +430,27 @@ static void NOINLINE send_raw_imu1(mavlink_channel_t chan)
         mag.x,
         mag.y,
         mag.z);
+
+    if (ins.get_gyro_count() <= 1 &&
+        ins.get_accel_count() <= 1 &&
+        compass.get_count() <= 1) {
+        return;
+    }
+    const Vector3f &accel2 = ins.get_accel(1);
+    const Vector3f &gyro2 = ins.get_gyro(1);
+    const Vector3f &mag2 = compass.get_field(1);
+    mavlink_msg_scaled_imu2_send(
+        chan,
+        millis(),
+        accel2.x * 1000.0f / GRAVITY_MSS,
+        accel2.y * 1000.0f / GRAVITY_MSS,
+        accel2.z * 1000.0f / GRAVITY_MSS,
+        gyro2.x * 1000.0f,
+        gyro2.y * 1000.0f,
+        gyro2.z * 1000.0f,
+        mag2.x,
+        mag2.y,
+        mag2.z);        
 }
 
 static void NOINLINE send_raw_imu2(mavlink_channel_t chan)