Mia certainly has had lasting relationships with her many children, with the exception of Soon-Yi, who said after the news broke about the Woody/Soon-Yi family she still loves. And Mia didn't "say" anything about what Woody may have done - she wasn't the one making the allegations. Her small daughter Dylan (who has since changed her name) was; Mia was supporting her daughter.
This is an old Vanity Fair article that tells Mia's story. She is far from perfect, but IMO Woody Allen is even farther from perfect.
The article also mentions how Satchel (Ronan's given name) was treated by Woody.
http://www.vanityfair.com/magazine/archive/1992/11/farrow199211
Also, Ronan said this year:
I am so proud of my family. I grew up across the table from Moses, who has cerebral palsy, and next to my sister Quincy, born of a drug-addicted inner-city mother, and Minh, who is blind. I could never have understood what it means to grow up blind or with cerebral palsy. I saw problems and needs, so the next thing you think is: O.K., what are you going to do about it? Ronan Farrow
Certainly sounds like she raised one amazing kid.
He's a Rhodes Scholar, completed college as a teen, and entered Yale law school at 16 (per wikipedia). With those looks, smarts, and connections he could easily be doing lots of things that would keep him more comfortable and better paid, but he does humanitarian work. Heck, he could even have tried to get a reality TV show and be a party-boy like a male Paris Hilton. He could easily have seen his teens and 20s partying late at night and waking up in the afternoon. The fact that he didn't choose that route is to me, a credit to his mother.
Mia may not be proud of the affairs she's had but I think she's proud of the son she & Sinatra had together and want Sinatra to get some credit in having a hand in making him. I think this is her way of making sure the world knows Sinatra has such a great son that he'd be proud of.