Hi there, drvnm
and Welcome.
A couple things , Not sure what configuration you are using and pretty sure/certain the demo’s are not tuned or calibrated in anyway and the data NOT filtered, so things to try, Check out the data sheet on the IMU make sure , I would first roll back the BSP to and earlier one and see if it has any effect then I would try the higher level examples , Also note the calibration data for each sensor is stored in the config registers , You also maybe could apply that data to your output
Without knowing more about your setup, It’s looks normal with a little error 
I don’t see the IMU configuration in the code above?
HTH
GL 
PJ
Checkout some of other demo’s , ie. FreeFall , etc.