As a child of divorce (I was 12 when my parents split up) nothing my parents did seemed to be right in my eyes. I'm jealous that your children can have such trust in you. I wish I could have done the same. What I have learned though is that, even though I hated the things that happened, meaning the lawsuits cases lawyers and bull crap that went along with it, it was for my own good. I'm not a therapist, or a professional. But from my point of view, I hated it while my parent was "making" me do things, like attend church, visits, etc. But I am forever grateful because now I see what that parent was keeping me away from. Now, both of my parents are active in the church as well as their spouses. It's great.
In summary; they may be angry and it may cause them some stress to see you and their mother fight. But I think that one day when they're a little older, they'll understand that you were trying to protect them and that you were doing the best you could at the time with the knowledge that you had. It's the big picture that matters. If you step back, you'll notice that it's not going to blow up as big as you think.