Hi, I'm sorry that you're feeling like this.
The first thing I'd say is that everyone feels like this to some degree, for different reasons. I know I did. I was worried whether I was doing the right thing, whether I'd be any good, how I'd cope.
I had, for different reasons, a lot of stress during my pregnancy and I was terrified, depressed and anxious. I broke down in tears in front of my midwife, who was amazingly supportive. When you think about it, they're very experienced and have seen it all! So please, please consider talking to her. You won't be saying anything she hasn't heard before.
Don't worry about 'being maternal' - there are a million different ways of being a mum, you'll find your own way. I'm not naturally 'maternal' either, or domestic, and I consider myself an excellent mum haha! She's clean and happy, my job is done!
I don't know what to say about your other half, I've never been in that situation, but maybe try not to think too much about what he wants and concentrate on taking care of yourself - everything else will come in time x