It also may have worked had the contact officer had his flashlight in his weak hand and his gun hand by his side instead of his weak hand in his pocket and his flashlight in his strong hand.
As for the cover officer, with the contact officer in a death duel with an armed man, I think the correct procedure would have been to move to the armed bad guy and put a bullet in him from contact distance. It could have been done while watching the driver.
Anyway, I think it's a good recovery, and a good result. Misses happen with a moving shooter and a moving target.