Your husband is abusing you. Each post has more red flags:
Checking for dust - controlling
Requiring homecooked meals, but the ones you make are not the "right" ones - you are trying to please him but can't - controlling
Discouraging you from going to baby groups - trying to isolate you - controlling
Making it hard to see your mother - trying to isolate you - controlling
Insisting on being present around the HV - wants to control the narrative and limit privacy - controlling
Taking dog for a walk - won't let you decide which jobs you want to do - controlling
You are constantly trying yourself in knots to please him but you are unable to because he won't allow you to. He will always find fault with what you do.
I'm willing to bet that there is some financial control going on too. Please keep going to the groups, everyone needs a support network, particularly those in an abusive relationship.
Your HV and your mother are rightly concerned and ypu need to listen to them. Your mother sounds wise and supportive and knows you really well. Ypur HV is a professional who has been trained to spot all these red flags and will also support you.
Please speak to HV or Women's Aid about how you feel. Your MH problems are almost certainly related at least in part to his behaviour.
And in answer to your question, no my DH did NOT have homecooked meals when I had a baby, nor did he have a particulaly clean house! He also said the more fun/groups/coffees etc I did during the day, the better.