Are you against just putting the 2nd panel on the roof?
On the ground WILL allow you to aim the panel directly at the sun, but on the roof will be working all the time and no hassles. I bet you often will not bother to deploy the ground panel...
Put on the roof and run the panels in "series", but make sure your controller can handle a 24 volt system. Panels typically put out about 18 volts for a 12 volt system, so in series will be putting out 36-37 volts. A good controller can take that voltage and drop it to 12-14 volts to charge/maintain your batteries.
Benefit of "series" is ability to use smaller wire from panels to the controller, and you will not need to run additional wires into the camper - all wiring will be done on the roof since you already have a panel ran.