A helicopter is going to "lean" when its hovering, it is perfectly normal. It looks a little pronounced in your photo, but it could be the training thing you're doing.
I Used RF G4 to learn how to fly Helicopters back in 2009. I did not use ANY of the training aides or whatever that is you are doing. The way I learned is pick a helicopter, Start on evergreen airport or any other photofield. start with hovering ONLY boom in at first which means when you use cyclic left it goes to the left, push the cyclic forward and it goes away from you and keep it off the ground about 3-4 ft. and keep it there. use that reset button if something happens, you can crash all you want in the simulator, that is what it's for. Keep hovering like this until you got it down pat and can do it without thought. Turn the helicopter left or right and then start over, moving the cyclic left or right will make it move forward or backwards and will be a new challenge for you to keep the helicopter in a hover. do this with the side of the heli facing you until you are comfortable with it in either direction. Nose in is next so cyclic responses are opposite of what you see the helicopter doing. Keep it in a circle and get comfortable. Once you are comfortable hovering in just about any orientation, go ahead and push cyclic forward and use left and right cyclic to do big circles around you, adjust with rudder stick as necessary. If you can do all of that without crashing, and full confidence, then you can start with the real thing, doing the same thing you did in the simulator.
It takes a long time and a lot of practice to fly helicopters, but if you stick with it, it is a whole lot of fun.
Hope this helps.