It seems as though she may be too ingrained in your family, and does not agree with your parenting. She needs boundries. I'd definitely keep your current child care situation at just about all costs.
She is using your children as leverage to punish you because you are not agreeing with her or because you made her mad. She can not be trusted or depended on.
Who knows what she is telling your kids behind your back, frankly, if she thinks you are doing things so wrong (in her opinion). Given what you have said, she is probably the type of person who will either directly contradict you or at least imply you are in the wrong, infront of the kids. This type of undermining behavior is bad news, for sure, and will hurt your family in the end.
My suggestion would be to talk it out with her (with your husband present), while the kids are not around. And no matter how Kumbayah you leave things, tell her you will keep your current child care situation, that you have so appreciated her help in the past, but would love if she wanted to take the kids to dinner/movie/park, whatever is a limited activity.