Your Z-axis vibe could be better as there is clipping shown on 2 axis. How have you mounted the PixRacer?
The pitch and roll tuning is not good. I suspect you will have to resort to manual tuning as I did on a mini-quad with a PixRacer. Also which compass are you using? The offsets are very high as they tend to be with one of the internal compass’s on the PixRacer.