I think you need to sit down with your husband on a calm day, and discuss with him a set of written "rules" for his mother to follow while she is here, or she can expect to be told to get a rental room somewhere instead. Make a list - laundry, dishes, whatever, list out every possible chore. Discuss it calmly, and see what can be worked out.

There is hope- she is not the only one who needs to change.