It's hard to answer this kind of questions without seeing the questioner upclose. But from what I can see, here is what I can say:
The reason Emptiness brings fear, is because it removes simple direction: go this way, do this. Indeed, if the world had simple moral imperative, or simple value imperative ("so and so is the best") - it would be simply a matter of pursuing that. Instead, to accept Emptiness means to accept that responsibility for making decisions lies upon ourselves. There is nothing in the world that has absolute value. So we can't just figure out what it is and thereby win the game!
Sounds like you need to learn to trust yourself. Trust your own judgement of goodness and badness, of happiness and suffering.
If you are very confused, you can use Buddhist precepts and principles as the first approximation. But eventually you have to discover your own source of wisdom, your own Buddha nature.
Trungpa Rinpoche said, "the bad news is we are falling -- the good news is, there is no ground". This is what it means to take the leap into Emptiness, to take responsibility. There is no guarantee that what you do will get you to a good destination -- so you have to keep your eyes open and rely on your own fundamental sanity.
Or, as Buddha said:
Monks, be islands unto yourselves, be your own refuge, having no other.