Hello trvlrsdtra, and welcome to the HP Forums, I hope you enjoy your experience!
I see your iPad 2 is not seeing the Envy as an air printer. I would love to assist you with that today.
I would suggest following through the steps on this very helpful document: Apple Mobile Devices (AirPrint): Document Does Not Print or is Stuck in Print Queue. Now, your error is a little different, but the steps laid out here should resolve your issue.
Good luck and please let me know the results of your troubleshooting steps. Thank you for posting on the HP Forums!