Pixhawk cube GPIO pin as input configuration.

I have a “pixhawk cube(px4)(black)”.

What I want? : i have 3 battery and a analog sensor (0-5v output). So I want to these three battery and a sensor data send to ground.
Please help me, how to send these data send to ground.

My assumption: Can these battery voltage and sensor output connect to Pixhawk AUX pin (GPIO). and read this data into mission planner.

is this possible ?
if yes then HOW?
if not hen what is the second option?