RE: slight lean to one side while hovering???
Translating tendency. Its the tail rotor pushing the helicopter sideways, to compensate you need a bit of right cyclic, even the full scale heli's do it.
If the main rotor is left hand rotation (counter clockwise) the heli leans to the left to correct it.
All of the controls on a helicopter interact constantly. For example you add power, that makes the tail want to turn, you (or the gyro) corrects for this now you are adding right rudder so the heli wasnts to translate left even harder so you need more cyclic to compensate which requires more power...... you get the idea.