"Please refer to the schematic diagram of APM board. You can give 6V input directly. You will have to use a 5v regulator. Battery can be lead acid type."
"Hi Varun,
Yes, APM2.6 board can be used with Hbridge. All you need to do is make the Enable pins high on Hbridge & use the data pins to control the motor.
I have done a similar interface with MultiWii board for a self balancing robot. So same should…"