I understand your dilemma with the children and not wanting to be away from them for 3 days. Personally I would not send your H that message nor ask for his help as far as him going with you.
If you do decide to send the message I would eliminate the part about asking his parents to help if it is not a realistic option.
I know this feels like forever to you but your situation is very, very new. While I can understand why you feel this would be a test as to where the two of you stand on co-parenting, it seems like a bit much IMO. The two of you have lots of kinks to work out as co-parents (I know you are both really trying).
Your children have been at your H's apartment for one night, correct? Is it a possibility for you to go alone for one night and have the children stay with your H. I know it would be cutting your weekend short but it might be an alternative solution.