I'm not that familiar with Mavlink and the mission planner, but can someone give me a head start on how to go about integrating the battery readings and viewing them in mission planner? 

Im using a 5000maH battery. I'm putting 2 batteries in parallel to get more voltage because were using a hexacopter that needs to carry a payload of 1pound. 

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This is documented in the wiki - http://code.google.com/p/ardupilot-mega/wiki/Voltage

If you are running high voltage you may need to wire a custom voltage divider.  Otherwise it should be fairly plug and play.

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