Should I seek full custody after an abusive relationship?

My relationship with my daughter's dad was emotionally, mentally, financially, and verbally abusive. We finally left him and I feel great. However... we need to figure out custody. I feel in my gut that I should try to get full custody of her based off of the kind of person he is and how I'm afraid he will treat her as she grows. I know there is a legal process and I dont want him to not be in our daughter's life, I just feel like I should call the shots to make sure she is taken care of the best. He makes a lot of poor judgment calls with his 8 year old son and I dont want him to do the same with her or treat her the way he treated me.

Is that terrible of me... should I just give it time and see if my feelings change? I'm so lost.