T.S.
Hi Leeah,
I'm sorry you're going through this. You can file a stipulation for custody (file a motion, write up the agreement, both of you sign it so a judge doesn't have to make a ruling) and file it with the court yourself.
That said, NO custody orders are permanent. If he "smartens up and realizes what it means to have custody" (I'm not sure what YOU think it means to have custody... there are two specific kinds of custody, legal and physical, and neither is the same as terminating the other parents' rights) he can always file a new motion to modify.
Many attorneys will give you a free consultation meeting. Might be worth talking to someone about what exactly the process will be. Most court houses have a self help center as well that will help you prepare the necessary forms (if you have a day to spend there waiting your turn).
Hope this helps,
T.