Xeno, you have done the exact right thing - and may you continue to reap the rewards of being such a loving and committed father.
I have to agree that the family court system is woefully unprepared for the many permutations of divorce and custody that they are faced with. I know that if my ex and I had not come up with an arrangement on our own, the court would have given me full custody as a matter of course - and my son would have missed out on his terrific father.
Best of luck to you and your whole family. You are an example Dads everywhere.