I believe your first responsibility is to your children. Protect them from being subjected to this terrible behavior from your W. They have already had to go through so much cr@p. I would tell her that she either had to stay on medication (or some type of program) to control her behavior or I would find a Judge that would hear me out so I'd get full custody. I don't know how you live with that! Those poor kids!
It is not about what you feel should work in your M. It is about doing the work that gets the right results. Do what works!