imu_filter_madgewick frame does not display rotation accurately

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I am using the L515 Intel Realsense Camera, and the imu readings function as expected in the realsense-viewer, however when I launch the filter, RVIZ displays the "camera_imu_optical_frame," but neither the orientation nor the rotation accurately represent the positioning and movement of the camera.

When I alter the yaw of the camera, a change in the pitch is displayed in rviz. Altering the pitch, shows a change in roll. And changing the roll shows a change in yaw.

The lower frame in the picture is the imu frame, and the top frame is an arbitrary frame that is oriented in the direction that I would like my imu frame to face.

https://imgur.com/vymtoMc (Sorry for using image hosting, I don't have the karma yet).

imu_filter:
  ros__parameters:
    stateless: false
    use_mag: false
    publish_tf: true
    reverse_tf: false
    fixed_frame: "odom"
    constant_dt: 0.0
    publish_debug_topics: false
    world_frame: "enu"
    gain: 0.1
    zeta: 0.0
    mag_bias_x: 0.0
    mag_bias_y: 0.0
    mag_bias_z: 0.0
    orientation_stddev: 0.0

Let me know if you have any recommendations, or need more information. Thank you!