Is my dad a bad parent?

My dad is always in a bad mood every day. He always gets mad at my mom. He doesn't really interact with me, besides to yell at me. He is never really excited about anything I do, and only criticizes me about B's in school. He treats me like a 6 year old. Always asking if I ate breakfast, if I want milk, if I have homework etc. Sometimes he will give me lectures and they will make me feel really bad. Like, if something happens and I am disappointed or something, he will talk about how he had "such a hard life". I basically feel like hes insulting me. I don't feel like he emotionally cares about me. A few times hes yelled at me enough to make me cry and hyperventilate. Since a little boy ive been scared of him and haven't really had a good relationship. What is your opinion? thanks