Co-Pilot is the one. I suppose centering the sticks when you get in trouble could be a bad habit unless you intend to keep using co-pilot, but I don't know if it's a habit any harder to break than telling your instructor to take over.
It won't teach you to hover, but it may help with nose-in and side-in stick handling. Then again, an Esky Lama 2 will do that and it's fun, too.