I would suggest you can leave it connected. The 'drain' from a modern car when turned off must be unmeasurably small... unless you are planning years away?
If trickle charged there are instructions in the handbook relating to not confusing the battery voltage monitor, used by the stop/start system.
EDIT: the owner's manual suggests you should disconnect if unused for over a month, but also explains how to prevent damage to the stop/start system: the negative lead has a quick release, operated by pressing a button. This removes the main negative wire, but leaves the voltage sensor (and a very small wire connected to it) attached to the negative pole of the battery. (see page 81 of the handbook)