AP_GPS: always send GPS2_RAW if 2nd GPS configured

this improves the display on the GCS when the GPS has not yet been
found. This is particularly important after a reboot, as otherwise the
GCS may display stale information from the previous boot

libraries/AP_GPS/AP_GPS.cpp

@@ -665,9 +665,6 @@ found_gps:
         timing[instance].last_message_time_ms = now;
         timing[instance].delta_time_ms = GPS_TIMEOUT_MS;
         new_gps->broadcast_gps_type();
-        if (instance == 1) {
-            has_had_second_instance = true;
-        }
     }
 }
 
@@ -1186,8 +1183,8 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
 #if GPS_MAX_RECEIVERS > 1
 void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
 {
-    // always send the message once we've ever seen the GPS
-    if (!has_had_second_instance) {
+    // always send the message if 2nd GPS is configured
+    if (_type[1] == GPS_TYPE_NONE) {
         return;
     }
 

libraries/AP_GPS/AP_GPS.h

@@ -659,9 +659,6 @@ private:
 
     // used for flight testing with GPS yaw loss
     bool _force_disable_gps_yaw;
-
-    // used to ensure we continue sending status messages if we ever detected the second GPS
-    bool has_had_second_instance;
 };
 
 namespace AP {