If by yellow top you are referring to an Optima you might want to reconsider. They don't really have the AH ratings for our purpose. Though it should be ok if the majority of your camping entails the availability of shore power.
Yes you are correct that you would NEED to upgrade your charger to avoid ruining the battery. Even with a regular wet-cell battery it would still be a good idea to upgrade as it will do a better job of keeping it topped up for you.
2007 F350, SC, LB, 4x4, SRW, 6.0/auto