She is not one of my favourite royals, but I think she is quite misunderstood and that she really had VERY bad press!
She was more a practical woman than anything else, but she did love her children. (I am not saying you said the contrary!). Maybe she loved them in an egoistical way, but that is something!
For example, abandoning Minette when she was just a newborn can seem something abominable, but it was a practical thing to do. Minette wasn't a desired child, product of the last interview between Charles and Henrietta. She was escaping from England when she delivered the baby. Escaping with a newborn baby was an awful setback and Henrietta, a practical woman as she was, "abandoned" her baby in order to escape to France. She knew Cromwell wouldn't dare harm her little daughter, so in the end it was safer for Minette to stay in England.
A less practical and selfish mother would have probably remained in England with her daughter, standing in front of Cromwell no matter what would her fate be (probably the axe).
In my opinion, I think that she was so unpopular amongst her British subjects and she had so bad press, that we can't have a clear image of what kind of person she really was...