VMware ESXXi 5.x error while adding Datastore : "HostDatastoreSystem.QueryVmfsDatastoreCreateOptions" for object "ha-datastoresystem" on ESX "xx.xx.xx.xx" failed

You need to run the following command for each disk that you’re having issues with (this overwrites the partition table with a standard msdos one which VMware can work with); NOTE: This will ERASE ALL DATA on the disk in question so be careful to select the right disks.

# partedUtil mklabel /dev/disks/<disk id> msdos

To get a list of your disks;

#ls /dev/disks