It's not been my experience that iOS drops the connection when pulling up another app. I have often done this when checking the PAW browser screen for traffic details, or changing a setting, and still been able to go back to SkyDemon with no problems. As a precaution, I aways try to restart the machine just before flying and only load apps which I actually will want to use, just to eliminate any chance that an irrelevant app running silently in the background interferes with things.
Closing the lid on the cover, if you have one, or otherwise putting the device to sleep will drop the connection.