Controlling grandparent?

Kayla • 22! married to the love of my life! Love photography and nature.
I made a post on here before about my husbands grandmother, about how she would tell him I would leave and not come home when I was really upstairs. The situation with her is getting worse now that I'm pregnant and it's putting a lot of stress on me. His grandmother is 80, his pap died in 2009. Last year she was diagnosed with pulmonary fibrosis and told she only had five years to live, amongst other health issues such as gout and diabetes. And over the last year we decided to live with her as we remodeled our own home right next to hers. She was "happy". Now she refuses to help us with anything in the house, she won't remove herself from the phone or TV. She tells us we have terrible phone manners when we ask if she needs something from the store because we don't wait 2-4 hours for her to get off the phone. She lashes out at us telling us how terrible we are to "pick" on a dying person. When in all actuality when she picks on my husband I stand up for him and she senses she's losing control so she goes on and on and on about other things. The other day she went on SCREAMING at us while we made dinner, she screamed so loud for an hour my sister in law came over to find out if everything was okay. An hour she screamed at us, she tells everyone everything about us and I just don't care, I can hear her talking bad things about me and I tell my husband and she denies she does it says I can't hear well but continues to do it. I talked to my father in law yesterday who seemed worried about how the stress is affecting me and my pregnancy and he told me she was so controlling and manipulative to my husbands grandfather even when he had cancer. I'm lost as to what to do now, I'm pregnant and she doesn't care about any stress she puts me and the baby under. I'm so done living with her I'm really ready to freak out and I don't know what to do, I was done with controlling parents when I left my abusive parents. I'm done with it now