You use the CDR whenever you intend to make 'large' control inputs.
If you want to maneuver your aircraft whilst in stable flight, it is recommended to NOT use the CDR, as you will lose some of the DAFCS features if depressed. However, IRL you'd be pushing 'against the springs' if you do not press the CDR. As a technique you can press the CDR and apply a little bit more hands-on control touch and disengage the magbrake on the cyclic. You can not feel this difference on your PC, so I guess it doesn't matter what you do.
To fly a normal turn, without pressing the CDR, you should not need pedals as the DAFCS should make the turn coordinated. The Chinook however does allow quite some throwing around with pedals if need be, for instance flying low level between obstacles and you need to swing the backside of the helicopter around to avoid hitting them. Or if you need to throw in the fuselage to create extra drag to stop quicker.
