hi harman - sorry to hear things have been so crap.
I am a SW with a CMHT (adult equivalent of CAMHS). We work with loads of parents, who parent really well despite any difficulties they are experiencing. There is no automatic referral onto children and families SW, and we work entirely separately.
To be honest, if there were any concerns whatsoever about your parenting, CAMHS would have been obliged to refer you onto children and families services in the first place.
The sort of service you'll get offered depends very much on what you and your allocated work think will be successful. This could be CBT, psychodynamic work, or something else entirely. If you have any views about what you think might be helpful (feel free to ask if you want more info) make sure they get heard!