FPV Race: Lazd Sunday QAV250 vs ZMR250 vs Atom 122

Friendly race session on a wide open track. I was starting to feel bad until I realized everyone else was on 4S and I was on 3S. Flying the modified QAV250. The track is setup with disc cones and a few airgates from FPVModel.com
Frame:
Lumenier QAV250 Carbon Fiber Edition (3mm) http://www.getfpv.com/qav250-mini-fpv-quadcopter-carbon-fiber-edition.html
Lumenier 6" Carbon Fiber Arm Extensions http://www.getfpv.com/qav250-arm-extensions-carbon-fiber.html
RCMC GoPro Top Plate http://www.buildrcdrones.com/store/p91/Qav250_upgrade_top_plate_for_Gopro_.html
Power:
Cobra CM-2204 2300kv Motor http://www.getfpv.com/cobra-cm-2204-2300kv-motor.html
DYS SN20A ESC (SimonK Bootloader + BLHeli 14 RC1, OneShot125)
Gemfan 5045 Bullnose Props
Lumenier 1300mAh 3s 35c Lipo Battery http://www.getfpv.com/lumenier-1300mah-3s-35c-lipo-battery-xt60.html
FPV:
GoPro Hero 3 Black Edition (1080p 60fps Medium FOV)
WoCase GoPro UV Lens Filter
http://www.amazon.com/WoCase-Camera-Violet-Filter-Protector/dp/B00NHBCS7W/ref=sr_1_3?ie=UTF8&qid=1435730633&sr=8-3&keywords=gopro+lens+protector
Lumenier GoPro - Live Video Out + Charge http://www.getfpv.com/gopro-live-video-out-charge-right-angle-connector.html
Aomway Micro 200MW 32ch 5.8GHz Video Transmitter http://www.hobbyking.com/hobbyking/store/__72582__Aomway_Micro_200MW_32ch_5_8GHz_Video_Transmitter_With_Cable_Set.html
Aomway 5.8GHz 4-Leaf Clover Antenna for TX/RX (RHCP) http://www.hobbyking.com/hobbyking/store/__76889__Aomway_5_8GHz_4_Leaf_Clover_Antenna_for_TX_RX_SMA_RHCP_.htm
Control:
OpenPilot CC3D Atom http://www.banggood.com/OpenPilot-CC3D-Atom-Mini-CC3D-FPV-Flight-Controller-CC3D-EVO-p-970762.html
FrSky X4R-SB - 3/16 Channel Receiver (using S.BUS) http://www.getfpv.com/frsky-x4r-sb-3-16-channel-receiver-w-sbus.html
AUW: 528g
Typical Flight time: 5:05
CleanFlight 1.9
PID Controller 3
Pitch Rate:0.60
Roll Rate: 0.60
Yaw Rate: 0.40
Roll P: 1.9 I: 0.037 D: 0.000029
Pitch P: 2.2 I: 0.042 D: 0.000038
Yaw P: 13 I: 0.042 D: 0.00009
RC Rate: 0.9
RC Expo: 65
Yaw Expo: 65
Looptime: 1700
BLHeli Settings (v14):
DeMag Comp: Low
PWM Frequency: Damped Light
Motor Timing: Medium
Dithering: Default