I'm going to do that annoying thing of jumping in to comment before I read, but I am in the middle of a conference which is, amongst other things, about women in the past giving birth. This is my research subject as well.
There has been some recent research suggesting maternal mortality in the period I study (late medieval) has been exaggerated. We have a myth that it was all absolutely grim back then, and people expected women and infants to die, and no one cared. It is absolutely, categorically not true.
There is a huge body of medical literature dedicated to helping women in labour survive, avoid pain, avoid losing their babies. Some of it, of course, wouldn't have worked and that is tragic. Some of it would have been actively harmful (not much, though). But some of it would have been helpful. Women were encouraged to give birth in a dark, comfortable, familiar environment; they were encouraged to move (and there are even chants to help time labour pains, like lamaze). People understood it was better to avoid any kind of surgery and there are cases of midwives knowing how to do things like turning a baby that was in a non-ideal position, or treating placenta abruption (which is a major killer).
Of course what they didn't have was 1) anaesthesia, so you can operate and 2) an understanding of the need for sterile conditions. But those are two things that took us as humans a very, very, very long time to figure out!
No one gave birth on muddy castle floors as a matter of course. In fact, I believe you could be taken to court for cruelty if you let your wife or relative get into that situation.