Matlab FIlter coefficients to CMSIS api
I know this is an old question, but maybe this is useful to someone.
In CMSIS documentation, in Biquad Cascade IIR Filters Using Direct Form I Structure, says that the used equation is:

$$y[n] = b_0 x[n] + b_1 x[n-1] + b_2  x[n-2] - a_1 y[n-1] - a_2 y[n-2]$$

You need to look closely to coefficients $a_1$ and $a_2$. You need to change the sign.

So in your case, if matlab gave you this result (SOS Matrix)

1,  0,  -1,  1, -1.9974,   0.99743,        
1,  0,  -1,  1, -1.9995,  0.99947,        
1,  0,  -1,  1,  -1.9937,  0.99371,        
1,  0,  -1,  1, -1.9982,  0.99817,       
1,  0,  -1,  1, -1.995,  0.99499,


then you should change it to:

static float32_t filter_coeffs[] = {

1,  0,  -1,  1.9974, -0.99743,        
1,  0,  -1,  1.9995, -0.99947,        
1,  0,  -1,  1.9937, -0.99371,        
1,  0,  -1,  1.9982, -0.99817,       
1,  0,  -1,  1.995,  -0.99499,
};