Zubax Orel 20 ESC connection to multiple batteries

Hi, I would like to use UAVCAN and the Zubax Orel 20 ESCs. I know that it is possible to connect them in series with one battery and a power management board. However, I was wondering if it is possible to connect one battery per ESC. Would then PX4 be able to handle the voltage measurements coming from different ESCs and telling me what are the voltage levels of the different batteries?.

I hope my question is clear, otherwise let me know and I will try to be more clear.