My parents are tearing my marriage apart!

let me start off by saying I have the most amazing husband any woman could dream of. We have a wonderful marriage and a beautiful baby on the way. We own and operate and raw milk dairy and we get to work together side by side everyday. We never ever fight, he is my absolute best friend... but my parents well that's another story... so my whole life my dad has always had a temper and he hates everyone/most people hate him. he doesn't know when to not open his mouth and he loves when there is a problem. My mom is submissive to him that's how they have lasted for 25 years of marriage (my dad however has been married 3 othe times and has several kids who do not talk to him anymore, they haven't for many years) their marriage is not good but it works for them. my mom keeps her mouth shut and my dad just always yells and is mentally abusive. anyway, my dad always tries to do stuff for us but it's at a cost we have to help him far beyond whatever he did for us. we just dont want his help anymore and we are sick of being lectured and told "one day we will learn" unfortunately you can't talk to him because he gets so mad and will just scream and then I end up crying and then he says no one loves me no one wants to be with me everyone hates me. and the answer is yes I hate him it has been this way since I was a child but I don't want to loose my husband and our baby over this. does anyone have a suggestion? on what to Do? on what to say? I tried talking to my mom about it but she only supports my dad and doesn't back us up. I pray and pray but not sure what to even pray about.