I'd love to see a video of this, but it should be easy to solve.
Your AHRS Trim values, are a little off, which causes the copter to have a tendency to move in a particular direction (in your case, backwards), without you moving your RC. As long as it is always moving backwards, this is very easy to solve.
If the copter sways backwards, then forwards, then left, then right, etc (ie. like its drunk), your problem is likely to be something else.
So, here's what you do.
1c reset your RC control trims. Changing the RC Trims should always be a last resort - never the first resort. These should be used for only the most minor adjustments on the day of flight, for example if there is a strong wind blowing a constant direction. You can quickly change the trim values on your RC, to make the copter behave better.
2, change your AHRS Trim values. This needs to be done on a calm day.
BTW, auto trim does not work, for me. I have tried it many times and it is useless. My method (explained below), should be bullet proof.
Go to my setup tips thread and search for: Manual setting of AHRS_TRIM settings.
Follow those instructions and report back.
If the problem still persists, please take a video and post it here.
Once setup correctly, you should be able to have your copter take off, without any need for RC input, as demonstrated in the video below: