I would let my dad in if he wanted to. He doesn't have to be down at the foot of the bed. But if you're uncomfortable with the situation definitely say something now so he doesn't have his hopes up.
Honestly, I lost my mother at a young age and I wish she was here to see my baby being born. My dad is really excited about the baby and I cant wait to have him in the room. Above all the crazyness tho haha. But it is up to you and how you feel
Having your dad in there is really awkward. Even if he is your only parent. Maybe have him there until its time to spread eagle and have a human ripping through your lady bits. It's one thing to have your dad changing your diaper when your a baby. Its another when hes there while your a grown woman having a child. Pretty sure he'll understand. Gotta do what is best and comfortable for you. Also if he for some reason doesn't understand and threatens to be in the delivery room anyways,you tell the nurses who is allowed and who isn't, they're like tiny bouncers and won't let him in until you're done. Good luck.