The one with the marina is very nice. We have not actually stayed there, but I did spend an hour there talking with the manager and walking around. They are very nice, the place is extremely well kept. A couple of good restaurants nearby - The Crab Trap is a couple of miles west and right on the gulf. The Shrimp basket is about a mile west and across the road from the gulf. Both have very fresh seafood, casual atmosphere, decent service, and the prices are not too bad. The shrimp basket is a little cheaper, but I like the food better at the Crab Trap.
If you stay at the other park you will save a little money, and it's closer to Pensacola so there's a little more to do (if you want something to do). It's at exit 7 off I-10. There is a Sonny's at that exit, as well as a Cracker Barrel, and a grocery store right there too, so provisioning is easy.
We're going down on Wednesday of this week, but not taking the motorhome. We have a condo rented on Pensacola Beach for about ten days. I'm going to check out Fort Pickens campground on this trip, for later on.