I'm not a fan of Hennepin Canal, you might like it if you want to camp with your horse.
I will give the staff credit, the park is well maintained and looks very clean. Having said that, this park is right next to the Hennepin Canal, which is full of stagnant water, a breeding ground for millions of mosquitos.
Honestly, it was difficult to even understand how camping worked at this park. If you are not a local you wouldn't know where the campground is... well, the camps are set on the trails that run parallel to the canal. That is the only thing I could figure out from the message board and some hiking. The entire time I did not see one tent or person camping.
On the positive side, if you want to ride your horse the trails running along the canal are equestrian trails and allow horses to camp with you. The other positive is there is a cool walking bridge over the canal. These positives are not enough to overcome the fact that you are a juicy meal for the un-numbered mosquitos that live and breed in the canal.