As they're still walking on the ground like every other actor in this game and it's just their animation making them 'appear' to be flying, while still keeping a fixed distance to ground at all times,
I'd suggest looking into the animations in order to change the height at which they're hovering.
Either the "Bip01" node itself or some other node coming closely after it in the tree (in human skeletons it'd likely be either "Bip01 NonAccum" or maybe "Pelvis" even) would be the best bet. Coming to think of it I think "Bip01" has to remain at (0, 0, 0) by all means, as it defines the origin, so "NonAccum" it'd be for humanoid skeletons rather. But it really depends on the skeleton the Imps are using, which bone node it will be for them.
As you're already working with animation files and skeletons meant for "flying" creatures, it's a rather safe bet they use the one bone with the longest tail (distance to parent bone) for exactly this purpose.
The most important thing to keep in mind here is that most Vanilla animations contain information about bones they really rather shouldn't, for example they're already un-doing any and all changes to the actor skeleton's bones' positions and scales in every single animation file, while animations of these bones should actually only contain their rotations anyways, so it's a rather safe bet you'll end up having to edit every single animation file the creature will be using in order to successfully and persistently modify the height at which the creature hovers, more or less.
Unless you're lucky and modifying only the "idle" will do already. This requires the other animations not to just undo all you did by wrongly included animation data for the bones, just like is the case for humanoid actors in most, if not all, Vanilla files already.