Help living with someone who did you wrong

About half a year ago my father got arrested, for my mother accused him of abuse. Me and my siblings went all out to get him out and miraculously he got free, in a way that no one around here have seen before. Neither me or my siblings were very close to him, as he almost never showed affection towards us, but still, after this event we tried to get closer to him, helping him dealing with depression and ptsd from the experience. As the days passed he began to more and more to despise our help and advice, and to do things his own way, seeking out for my mother and to get revenge on her. He started to get intimidating and oppressive again, making threats to us, to my younger sister: "you're gonna be an orphan", and so on. A few weeks ago my older brother and us was talking some advices to him, and my father said "I'm annoyed by the sound of your voice" and "i don't have a family". And a few days ago said to my brother that he would accuse us just so we can't make a trip that my siblings and i were planning for years. I have lost all the respect and trust for him, and I'm on the verge of losing it every time he's around, and anyone can tell that he is because he makes sure to put on gospel music blasting on the speakers, so much that my sister has to wait for him to fall asleep to lower the volume. Sorry about the long rant, I tried to make a prayer of forgiveness to him a week ago but i still can't stand him. There's no way me and my sister can move out of home yet, i would move out live with mom but i don't want to leave her alone with him.