Have a very detailed birth plan. The Bradley Method workbook has great info on what to include in the birth plan (nothing's forgotten). Hopefully, you won't even need to glance at the birth plan, but if you have it and the hospital has a copy and your doc too, of course, people will know your expectations and respect that. There are amazing people working in labor and delivery at FMC who are very supportive of natural birth.
My midwife found meconium while I was laboring at home, so we transferred to the hospital where my son was born about 20 minutes later. They did a few things I didn't appreciate, but for the most part it was great. Stay with your baby at all times. We had a travelling nurse give our son the PKU prick without one of us present and she did it wrong and it sent him into having abnormal heart rate due to severe crying. I'm sure it would not have escalated into that if one of us had been with him. Our mistake though.
My daughter was born at home which was a much much much more peaceful experience. I'm thankful to FMC because without their expertise, my son could have been sick for months or worse, but instead he was healthy and we were all home in three days.
Good for you on a natural birth. You can do it. Your body knows and you are one with all the women who have done it before you.