Most parents in family law matters file notices of risk, but that's why the Court appoints expert witnesses - to work out if those risks actually exist or not.
It sounds like the expert witness in your case has determined there's no real risk to the kids, or at least not any that can't be addressed with a bit of counselling. If you've already agreed to undertake counselling, and he's already started seeing a psychologist, then I can't see a Court agreeing the notified risks haven't been adequately addressed by the consent orders.
I do want to commend you and your ex for being reasonable about this situation. Too often, parents come to this forum looking for a guide on 'how to win', rather than 'how to co-parent for the benefit of the kids', and when you enter this field with that attitude, the losers are always the children. It's refreshing to see parents willing to get past their differences, make concessions for each others' flaws and find some way to get along so their kids can flourish.
I hope everything runs smoothly for you. Realistically, the suggestion that you'd be in Court for another 18 months is optimistic. For most, it's closer to three years.