HT201493: About Find My Friends
Learn about About Find My Friends
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Helpful answers
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Jul 27, 2013 7:56 AM in response to LaurenVaby pvonk,From Apple's page on Find My Friends at
https://itunes.apple.com/us/app/find-my-friends/id466122094?mt=8
The one paragraph that seems to provide the answer is...
"Find My Friends can send your current location to friends even when the application is in the background and has been optimized to avoid draining your battery."
So it seems you need to have the app (in background) for your friends to see you.