I'm glad your h has agreed to go to counseling...but...let's see if he actually goes and yes, truly listening to what his exchanged between all parties and doesn't filter out only what he wants to hear. Gosh, I so hope that things will finally settle down on the co-parenting if he's open and willing to work w/you. I sure hope granny stays out of the picture when it comes to the parenting.
Try to enjoy your weekend. Get some much needed rest.
Sit quietly, the answers will reveal themselves when you least expect them to. The past is gone, the present is a gift and you need to focus on today, allow the future to reveal itself when it is ready.