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How to measure lipo batt cells voltage?

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Hi

LiPo batteries are generally 3.7-4,2V cells wired in series. I need to measure their voltages (in a 3 cell battery).
I'm building a flight controller based on Arduino and MPU6050 and it would be nice to monitor each cel's voltage.
I think I can use analog pins but the problem is as they are wired in series, the positive of some cells is the negative of another, and so!

Any hint?

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