Clear current Wi-Fi settings:
Now when you get setup again the process is the same as before when you first set the camera up with Wi-Fi to your iPhone. Just make sure that you are either sharing the same Wi-Fi network with both the camera and phone, or having the camera broadcast its own SSID.
To reconnect in the future, just remember the following steps:
Remember to always make sure the camera and phone are on the same Wi-Fi network. Oftentimes people have their phone automatically hook into their home Wi-Fi and get stuck reconnecting their phone to their camera if they originally did a "Camera Access Point Mode" connection instead of infrastructure during setup.