The best place to stay in Ypres (in my opinion) is the "Camping Car" area at the Jeugtstadion camping.
http://www.jeugdstadion.be/E/kampeerautoterrein.php
It's 16€ to get a card and you get back 4€ in cash when you return the card - so 12€ per night and includes all services and wifi.
The site is 5-10mins walk from the Menin Gate and the town centre the daily "Last Post" ceremony at 8pm is not to be missed.
The town has all the shops restaurants and pubs you could possibly want.
However DO read up on the check-in procedure at the Jeugtstadion - it is fully automated and reception is only staffed a few hours in the morning and afternoon.
You have to park up outside the barrier and walk to the kiosk next to the reception building where there is a touchscreen computer.
Select your language and follow the instructions EXACTLY to the letter. When you get your card all is not done you MUST then validate it before it will work - the instructions are on the screen, you would be amazed (or not) how many people don't finish reading what they have to do and wonder why their card doesn't let them in.
After you have got your swipe card and validated it you have to go back and drive your van up to the barrier, very close to the barrier as in almost touching it and then swipe the card over the pad on the post by the barrier - the barrier should then open. You then have to park in the space you chose from the ones available on the computer - you would be amazed (or not) at the number of people who choose space 1 and decide to park in space 12 because it looks nicer. If you do that, do not be surprised if and when someone else turns up and chooses the space you are (wrongly) in they ask you to pack up again and move - they will.
The number of each of the spaces is clearly shown on the computer screen, the one YOU chose is shown on your receipt and all the spaces are clearly numbered on the ground.
If you want to be sure of using wifi inside the van try and select a space close to the reception building as the signal can be a bit iffy on the other side of the roadway.
The grey water disposal is by the recycling bins but the toilet waste disposal is at the WC/shower block at the other end of the site. Some don't realise this and dump their toilet waste down the grey waste - not nice for following users.
The pathway to the right of the reception block takes you through a nature reserve and directly to the road that leads to the town and the Menin Gate. If you go or are likely to return after dark - take a torch.
Finally your van MUST be outside the barrier before 11am on your day of departure if it isn't your swipe card won't work and you will have to pay for another night to get out.
Don't forget then to return the card following the instructions on the screen to get your 4€ deposit back.
Despite all that it isn't as bad as it sounds once you know what to do and in what order and the site is very good for 12€