The need to cycle nicad batteries is often over stated. The best source of information on charging batteries I've ever found is at Red's R/C Battery Clinic: http://www.rcbatteryclinic.com/ . I've found it's better for people to read through his material, there's lots of great stuff, than to try to condense it and miss something.

One comment on something you said, discharging your batteries by leaving the receiver or transmitter on overnight is not a good thing. This could easily damage the battery pack.