The input voltage (usually 5v) is regulated down to 3.3v on the board. You need a little head room above 3.3v on the input voltage for the regulator to work. 5V works fine. Anything more than that, up to 10v will also work fine, but the regulator will produce more heat so test for that.
Whatever voltage you feed it (5v, 7v, etc.) will be the same voltage you get out of it. Receiver port, servo connectors (ESCs), MainPort, FlexiPort, SonarPort all are directly connected together and share a common ground and common V+.
So a main concern is whether everything you plug in can take the higher voltage too.