Have have a very good chance of being able to take Custody of my 2 girls here as mom has endangered them. I could also set some court ordered boundaries and try to force her to be a better mother.
It is a nearly impossible and will drive you insane to try to force a low functioning person to be a better mom. If she wanted to be better and was capable of being better, she would be.
If I take custody the most likely result would be sporadic visitation with her and God knows who else. She would blame me to the kids and there would be an awful lot of damage.
If she has endangered your kids, then you need to protect them with full custody. This means you have control over what contact she has with them and can help them heal. It also allows you to help them get to know their mom more when she is healthier.