Need advise no judging please

I need advise please. I am expecting my second child my bf and I have been together for a year. My parents tricked me into signing guardianship over to them for my daughter in 2014. My daughter would spend a lot of time at my parents because I worked full time and went to school full time. My parents asked me to sign a paper they typed up stating that they can take my daughter to doctors appointments.I agreed because I worked full time and went to school full time I didn't have a car. I didn't know I did until my parents went to the courts and got guardianship of my daughter. I NEVER went to court NEVER received anything from a judge or family court nothing. I got into a fight with my parents and they wouldn't let me take my daughter I always took my daughter it was never an issue. So I called the police they told me I couldn't take her because I didn't have custody of her. I was like WTF I get paid child support and I have residential and physical custody of her. I didn't understand I was blindsided. So I went to court the next day and they told me I needed to get a lawyer. So long story short the judge said because my parents had my daughter for majority of the time they can't just take her away so the judge said I visit with her every weekend then 6 months I can have overnight weekends and then I'll have custody back. But my problem is my daughter calls her mom and I'm due in November and I want my daughter to around her sister. I'm in the process of a moving into a new place so that's why I haven't been pushing the issues with overnights but I asked my parents once I move can I have weekends they said no. I don't want my daughter to feel abandoned. She cries everytime I leave her it hurts me so bad. My question is should I keep my baby I'm pregnant away from her? She thinks she is going to babysit her when I have her. She also thinks she is going to be in the delivery room. I don't want to keep my daughter away from her sister but I don't want my mom near her I don't trust her. I'm stuck I don't know what to do. Please don't judge.