How to get analog sensor data with pixhawk AUX pin on mission planner

Dear All,

I have a Pixhawk cube (black).

What I want? : I have three batteries and one analog sensor (which output 0-5v). So, I want to send this data to the mission planner.

My assumption: Can these 3 batteries and sensor connect to the Pixhawk AUX pin (GPIO). and receive these data from the mission planner.

is this possible?
if yes then HOW?
if no then what another method?