I have found the setting within the parameters that enables the use of a second GPS.  I am assuming that the firmware automatically selects whichever GPS has the lower HDOP.

I am under the impression that the Pixhawk has dual baros and accelerometers.  How can these be enabled and how exactly do they work?  

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It picks the GPS with the most number of satellites. The other redundant systems operate automatically with EKF enabled.

where do i find this parameter?

Which parameter? You mean AHRS_EKF_USE?
They are all here: http://plane.ardupilot.com/wiki/arduplane-parameters/

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