Help with BNO085 acceleration values

Hello, I am working on a project requiring acceleration and orientation data. I've recently gotten an Adafruit BNO085 and wired it up with an ESP32 Feather V2.

The orientation data is working great, however, no matter which acceleration function I use from the example code (acceleration, rawAcceleration, or linearAcceleration), all acceleration data is in a range of +-1 no matter how hard I shake the BNO. I need acceleration values in terms of m/s^2.

I've also noticed that the BNO085 loses accuracy with orientation with high G loads. Potentially the accelerometer is being used in the filter with the orientation data? If so, is there some way to disable data from the accelerometer and instead, say, use magnetometer data?

Currently my code is simply derived from the "more_reports" example code from the Adafruit BNO_08x library:

// Basic demo for readings from Adafruit BNO08x
#include <Adafruit_BNO08x.h>

// For SPI mode, we need a CS pin
#define BNO08X_CS 10
#define BNO08X_INT 9

// For SPI mode, we also need a RESET
//#define BNO08X_RESET 5
// but not for I2C or UART
#define BNO08X_RESET -1

Adafruit_BNO08x bno08x(BNO08X_RESET);
sh2_SensorValue_t sensorValue;

void setup(void) {
  Serial.begin(115200);
  while (!Serial)
    delay(10); // will pause Zero, Leonardo, etc until serial console opens

  Serial.println("Adafruit BNO08x test!");

  // Try to initialize!
  if (!bno08x.begin_I2C()) {
    // if (!bno08x.begin_UART(&Serial1)) {  // Requires a device with > 300 byte
    // UART buffer! if (!bno08x.begin_SPI(BNO08X_CS, BNO08X_INT)) {
    Serial.println("Failed to find BNO08x chip");
    while (1) {
      delay(10);
    }
  }
  Serial.println("BNO08x Found!");

  for (int n = 0; n < bno08x.prodIds.numEntries; n++) {
    Serial.print("Part ");
    Serial.print(bno08x.prodIds.entry[n].swPartNumber);
    Serial.print(": Version :");
    Serial.print(bno08x.prodIds.entry[n].swVersionMajor);
    Serial.print(".");
    Serial.print(bno08x.prodIds.entry[n].swVersionMinor);
    Serial.print(".");
    Serial.print(bno08x.prodIds.entry[n].swVersionPatch);
    Serial.print(" Build ");
    Serial.println(bno08x.prodIds.entry[n].swBuildNumber);
  }

  setReports();

  Serial.println("Reading events");
  delay(100);
}

// Here is where you define the sensor outputs you want to receive
void setReports(void) {
  Serial.println("Setting desired reports");
  if (!bno08x.enableReport(SH2_ACCELEROMETER)) {
    Serial.println("Could not enable accelerometer");
  }
  if (!bno08x.enableReport(SH2_GYROSCOPE_CALIBRATED)) {
    Serial.println("Could not enable gyroscope");
  }
  if (!bno08x.enableReport(SH2_MAGNETIC_FIELD_CALIBRATED)) {
    Serial.println("Could not enable magnetic field calibrated");
  }
  if (!bno08x.enableReport(SH2_LINEAR_ACCELERATION)) {
    Serial.println("Could not enable linear acceleration");
  }
  if (!bno08x.enableReport(SH2_GRAVITY)) {
    Serial.println("Could not enable gravity vector");
  }
  if (!bno08x.enableReport(SH2_ROTATION_VECTOR)) {
    Serial.println("Could not enable rotation vector");
  }
  if (!bno08x.enableReport(SH2_GEOMAGNETIC_ROTATION_VECTOR)) {
    Serial.println("Could not enable geomagnetic rotation vector");
  }
  if (!bno08x.enableReport(SH2_GAME_ROTATION_VECTOR)) {
    Serial.println("Could not enable game rotation vector");
  }
  if (!bno08x.enableReport(SH2_STEP_COUNTER)) {
    Serial.println("Could not enable step counter");
  }
  if (!bno08x.enableReport(SH2_STABILITY_CLASSIFIER)) {
    Serial.println("Could not enable stability classifier");
  }
  if (!bno08x.enableReport(SH2_RAW_ACCELEROMETER)) {
    Serial.println("Could not enable raw accelerometer");
  }
  if (!bno08x.enableReport(SH2_RAW_GYROSCOPE)) {
    Serial.println("Could not enable raw gyroscope");
  }
  if (!bno08x.enableReport(SH2_RAW_MAGNETOMETER)) {
    Serial.println("Could not enable raw magnetometer");
  }
  if (!bno08x.enableReport(SH2_SHAKE_DETECTOR)) {
    Serial.println("Could not enable shake detector");
  }
  if (!bno08x.enableReport(SH2_PERSONAL_ACTIVITY_CLASSIFIER)) {
    Serial.println("Could not enable personal activity classifier");
  }
}
void printActivity(uint8_t activity_id) {
  switch (activity_id) {
  case PAC_UNKNOWN:
    Serial.print("Unknown");
    break;
  case PAC_IN_VEHICLE:
    Serial.print("In Vehicle");
    break;
  case PAC_ON_BICYCLE:
    Serial.print("On Bicycle");
    break;
  case PAC_ON_FOOT:
    Serial.print("On Foot");
    break;
  case PAC_STILL:
    Serial.print("Still");
    break;
  case PAC_TILTING:
    Serial.print("Tilting");
    break;
  case PAC_WALKING:
    Serial.print("Walking");
    break;
  case PAC_RUNNING:
    Serial.print("Running");
    break;
  case PAC_ON_STAIRS:
    Serial.print("On Stairs");
    break;
  default:
    Serial.print("NOT LISTED");
  }
  Serial.print(" (");
  Serial.print(activity_id);
  Serial.print(")");
}
void loop() {
  delay(10);

  if (bno08x.wasReset()) {
    Serial.print("sensor was reset ");
    setReports();
  }

  if (!bno08x.getSensorEvent(&sensorValue)) {
    return;
  }

  switch (sensorValue.sensorId) {

  case SH2_ACCELEROMETER:
    Serial.print("Accelerometer - x: ");
    Serial.print(sensorValue.un.accelerometer.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.accelerometer.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.accelerometer.z);
    break;
  case SH2_GYROSCOPE_CALIBRATED:
    Serial.print("Gyro - x: ");
    Serial.print(sensorValue.un.gyroscope.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.gyroscope.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.gyroscope.z);
    break;
  case SH2_MAGNETIC_FIELD_CALIBRATED:
    Serial.print("Magnetic Field - x: ");
    Serial.print(sensorValue.un.magneticField.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.magneticField.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.magneticField.z);
    break;
  case SH2_LINEAR_ACCELERATION:
    Serial.print("Linear Acceration - x: ");
    Serial.print(sensorValue.un.linearAcceleration.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.linearAcceleration.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.linearAcceleration.z);
    break;
  case SH2_GRAVITY:
    Serial.print("Gravity - x: ");
    Serial.print(sensorValue.un.gravity.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.gravity.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.gravity.z);
    break;
  case SH2_ROTATION_VECTOR:
    Serial.print("Rotation Vector - r: ");
    Serial.print(sensorValue.un.rotationVector.real);
    Serial.print(" i: ");
    Serial.print(sensorValue.un.rotationVector.i);
    Serial.print(" j: ");
    Serial.print(sensorValue.un.rotationVector.j);
    Serial.print(" k: ");
    Serial.println(sensorValue.un.rotationVector.k);
    break;
  case SH2_GEOMAGNETIC_ROTATION_VECTOR:
    Serial.print("Geo-Magnetic Rotation Vector - r: ");
    Serial.print(sensorValue.un.geoMagRotationVector.real);
    Serial.print(" i: ");
    Serial.print(sensorValue.un.geoMagRotationVector.i);
    Serial.print(" j: ");
    Serial.print(sensorValue.un.geoMagRotationVector.j);
    Serial.print(" k: ");
    Serial.println(sensorValue.un.geoMagRotationVector.k);
    break;

  case SH2_GAME_ROTATION_VECTOR:
    Serial.print("Game Rotation Vector - r: ");
    Serial.print(sensorValue.un.gameRotationVector.real);
    Serial.print(" i: ");
    Serial.print(sensorValue.un.gameRotationVector.i);
    Serial.print(" j: ");
    Serial.print(sensorValue.un.gameRotationVector.j);
    Serial.print(" k: ");
    Serial.println(sensorValue.un.gameRotationVector.k);
    break;

  case SH2_STEP_COUNTER:
    Serial.print("Step Counter - steps: ");
    Serial.print(sensorValue.un.stepCounter.steps);
    Serial.print(" latency: ");
    Serial.println(sensorValue.un.stepCounter.latency);
    break;

  case SH2_STABILITY_CLASSIFIER: {
    Serial.print("Stability Classification: ");
    sh2_StabilityClassifier_t stability = sensorValue.un.stabilityClassifier;
    switch (stability.classification) {
    case STABILITY_CLASSIFIER_UNKNOWN:
      Serial.println("Unknown");
      break;
    case STABILITY_CLASSIFIER_ON_TABLE:
      Serial.println("On Table");
      break;
    case STABILITY_CLASSIFIER_STATIONARY:
      Serial.println("Stationary");
      break;
    case STABILITY_CLASSIFIER_STABLE:
      Serial.println("Stable");
      break;
    case STABILITY_CLASSIFIER_MOTION:
      Serial.println("In Motion");
      break;
    }
    break;
  }

  case SH2_RAW_ACCELEROMETER:
    Serial.print("Raw Accelerometer - x: ");
    Serial.print(sensorValue.un.rawAccelerometer.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.rawAccelerometer.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.rawAccelerometer.z);
    break;
  case SH2_RAW_GYROSCOPE:
    Serial.print("Raw Gyro - x: ");
    Serial.print(sensorValue.un.rawGyroscope.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.rawGyroscope.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.rawGyroscope.z);
    break;
  case SH2_RAW_MAGNETOMETER:
    Serial.print("Raw Magnetic Field - x: ");
    Serial.print(sensorValue.un.rawMagnetometer.x);
    Serial.print(" y: ");
    Serial.print(sensorValue.un.rawMagnetometer.y);
    Serial.print(" z: ");
    Serial.println(sensorValue.un.rawMagnetometer.z);
    break;

  case SH2_SHAKE_DETECTOR: {
    Serial.print("Shake Detector - shake detected on axis: ");
    sh2_ShakeDetector_t detection = sensorValue.un.shakeDetector;
    switch (detection.shake) {
    case SHAKE_X:
      Serial.println("X");
      break;
    case SHAKE_Y:
      Serial.println("Y");
      break;
    case SHAKE_Z:
      Serial.println("Z");
      break;
    default:
      Serial.println("None");
      break;
    }
  }

  case SH2_PERSONAL_ACTIVITY_CLASSIFIER: {

    sh2_PersonalActivityClassifier_t activity =
        sensorValue.un.personalActivityClassifier;
    Serial.print("Activity classification - Most likely: ");
    printActivity(activity.mostLikelyState);
    Serial.println("");

    Serial.println("Confidences:");
    // if PAC_OPTION_COUNT is ever > 10, we'll need to
    // care about page
    for (uint8_t i = 0; i < PAC_OPTION_COUNT; i++) {
      Serial.print("\t");
      printActivity(i);
      Serial.print(": ");
      Serial.println(activity.confidence[i]);
    }
  }
  }
}

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