RE: need voltage regulator?
Is that an A123? I know that A123 are 3.3V/cell. Is the 6.6V max voltage or nominal? If it's nominal than no, it won't work w/o a regulator since the fresh off the charger voltage will be higher and 6.6V is just barely tolerable for most receivers. The other problem is the servos. Some of the newer receivers are designed to handle 2 cell LiPo which would be 8.4V fresh off the charger but your average servo can't handle it and you need to use a servo rated for the higher voltage.
Mike