You are not out of line at all for not wanting his mom in the labor room when you are pushing the baby out. Your body, your vag, your decision. Your BF needs to realize that your mom is your mom, and therefore has every right to be there if you want her to be.
Unfortunately, as far as his parents being in the waiting room, I don't really think you have much of a choice. You may not like them, and they may not have apologized yet, but it is kind of one of those things where you have to be the bigger person and allow them to be there waiting for the baby to arrive, and allow them in to visit. Give them the opportunity to be bigger people, too, to visit without being nasty.
If they visit, and still behave poorly and are nasty, then you have every right to keep them from visiting you in the hospital any further, and even at home later on. At that point, you will have given them the opportunity to act like adults, and if they choose to burn that bridge that is their choice.