Also, you need to add the security token to AJAX requests using POST. This can be simply added using the variable "SECURITYTOKEN". An example is below.
Code:
YAHOO.util.Connect.asyncRequest('POST', scriptpath + '?do=ajax', {
success: this.handle_ajax_response,
failure: this.handle_ajax_error,
timeout: vB_Default_Timeout,
scope: this
}, SESSIONURL + 'securitytoken=' + SECURITYTOKEN + '&foo=' + foo);