Actually, I've only had him with me in the back yard so far, since I don't yet have a tarp I can use with a hammock. I've just kept him on a tie-out, and figure I'll have to do the same while camping (or just use his leash).
He's pretty well-behaved, and probably wouldn't go far, but I don't trust him to stick right by my side while sleeping. On my last trip he snuck out from under the vestibule wall while I was still asleep in the tent. He stayed in the tent with us after that. : )