Better communication might help. You would do well to tell your father what YOUR needs are. Don't tell him what you think he's doing wrong, which will only cause defensiveness and shut down any real communication. Report your feelings, and try to describe what you need that would serve you better. You can reasonably observe that when X happens, YOU feel tense, annoyed, lonely, perplexed, sad, jealous, or any other actual emotion. Therefore, YOU hope that more Z or Z could happen when he's visiting.
As in, "Dad, when you dropped in last night, I was amazed and rather upset, because we didn't even know you were coming. I need advance arrangements from you, and I expect you NOT to drop in without making sure that works for us first." Or, "Dad, I love to spend time with you, but I notice you turn away from me and BF when our daughter is anywhere around. I'm so grateful you love her. And I need some of your attention, too."
Avoid "concept" language like "I feel dismissed, used, unloved, ignored, uneasy, manipulated," etc. Those are fighting words, because they suggest to blame, and what you say and what he hears will be entirely different.
You also have a right to turn him away, if you have the guts to do so, when you've made your needs clear and he ignores them. "Oh, Dad, I had no idea you were in town. You know, it's late and we have other plans for early tomorrow. So it will not work for us to have you stay here tonight. Please help us plan ahead next time." Or, "Dad, I hear you'd like to come again in December. And that won't work for me. I feel too much pressure from the frequency of your visits."
Now, I hope you'll realize that a grandparents' love is not a rational thing, and feels like a very compelling need for many of us. I get to spend a day a week with my grandson, and I know my bond with him is special and positive for him as well as me. I really try to fit into the family and be of service, and I have always been made welcome, but I know that some grandparents expect to be catered to.
So you'll need to feel your way through to exactly what your issues are with your dad's visits, why and how they make you so uncomfortable, and address each of those issues to see whether they can be resolved. I expect that with some thoughtful attention and clear stating of your feelings and needs, your father might be able to fit himself into your life in a way that meets both of your needs, and gives your daughter one more caring adult in her life.