Your CO alarms are of course monitoring your room. If ventilation and flueing are good and there's no spillage then the burner could be spewing buckets of CO up the chimney and you'd (thankfully) never know, the yellow flame is as you say indication of less than satisfactory combustion but the only way of knowing for sure is to test with an analyser, this is difficult to do properly on a bbu so I'm told, I've personally never tried.
Did you know that this boiler has a seasonal efficiency of only 65%, you maybe chucking CO up into the atmosphere but you are most definitely chucking money up there. Baxi now make a condensing bbu with over 90% efficiency, might be worth a look