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I've run into an issue trying to enable battery monitoring. 

When enabled, the artificial horizon gets all sluggish and starts jumping around.  As soon as I move the APM it looks as if the AH tumbles out of control.  I also have Alpo's camera stabilization code implemented and the servos also react slugishly.

On top of that, my Xbee telemetry stopped working after that.

I run into the same issue with the unmodified APM software.  I've loaded the code on my second APM and had the same issue.

Replacing the Xbee unit on my plane has solved the telemetry issue.  I've tried following the instructions in the manual to re-install the Xbee firmware, but with no luck so far.

Any tips on the battery monitoring issue would be helpfull. 

Thanks