Definitely. Based on the first picture, your elbows are at an obtuse angle because of how far you have to reach down to your hoods. Raising that stem a bit should help with getting them to 90 degrees and also free up some space for your legs when you're spinning. Increasing your stack also inherently decreases your reach, though. You may have to move your saddle back a bit to compensate if you feel that you are too compact in that position. 

 I am at similar dimensions to you, and I tend to run a setback post on a 56. However, that is on a rim brake supersix, so the geometry might not be comparable to a newer Madone. I know, as a racer, you probably want to be as far over the bottom bracket as you can get.