Order of protection & custody

My boyfriend and I got into a argument which resulted in him punching me in the arm. His son from his previous relationship was present at the time but our 5 month old was not. I drove to my moms because I was angry and told her what happened and long story short my parents called the cops and I made a report. We have a history of physical fights, we’ve been together 3 years and have probably had 4 or 5 physical altercations. I KNOW it’s not okay. I’m not trying to justify him hitting me but he’s never “beat” me or give me a broken bone or black eye. We have court tomorrow and as of right now I have a stay away order of protection and temporary custody of our son. He would also say during arguments that he’ll take our son from me and leave. I’m willing to work on our relationship and go to therapy because I believe we both have issues to work out within ourselves and with each other, I want to be the best we can be for our kids and I think it’s better try to work it out instead of not trying and never knowing. Except now I’m conflicted because his family called cps on me for child abuse out of SPITE. His son loves me and I take care of these two kids so well and make sure I don’t make his son feel left out while I’m tending to our 5 month old. It’s incredible petty what his family did and unforgivable. But since it’s documented that we have had an abusive relationship and now that cps has been called I don’t know if it would be considered endangerment to our child if I move back in the house. What I’m wondering is if we go to court tomorrow and I want to dismiss the order or protection and give valid reasons as to why I made that decision, is it likely the judge will dismiss it? I’ve never been in this kind of situation! All I know is I miss my boyfriend and our family and want to try even means necessary to work things out.