You need to communicate with your husband about how you are feeling, the logistics of stuff he wants to do, and that stuff. You are pregnant, you have multiple children, and YOU BOTH, as the adults, have to think things through. I know you are hormonal, but take a deep breath and do what you can to not take this out on your daughter.
You could have said - "Hon, you said breakfast for daughter - lets paint after you get back." You could have told him when he brought it up that he'd need to think it through to make it work. Instead, you let yourself get mad at him, and at her. SHE HAD NO PART IN MAKING THIS SITUATION. She was "rattling on" because she was excited about something that she was TOLD WOULD HAPPEN, and the adults in her life weren't able to get their acts together.
You don't have to "clean up his mess and listen to her whine", but you both have to be adults and deal with it. If he's clueless about the time - remind him about it. If she's sensitive and inflexible, it's your job as parents to work with that and teach her how to be less sensitive and more flexible. Yelling doesn't do that.
Yes, it gets old, but that's how it is. We all have things that but our significant others. We have to deal with it.