To post a follow-up about this, I am still suffering from the issue where the tunnel stops working even though the sixxs-aiccu daemon is still running. I am 99% certain that this is due to me daily resetting the PPPoE session in pfsense (stupid ISP policy here that will disconnect PPPoE sessions older than 36 hours). I made a thread over at the sixxs forums as I thought one of the advantages of aiccu would be to survive this kind of scenario. I'm guessing it can (changing IP address), but there might be a bug in the daemon. Then again, the daemon is from 2007 so I don't expect much feedback from sixxs. Anyway, the thead is over here: https://www.sixxs.net/forum/?msg=general-12505873
As a work-around I manually kill the sixxs-aiccu daemon every night when I reset my PPPoE session and restart it afterwards. This is done via a cron script in pfsense. I've put the script online at https://gist.github.com/fvdnabee/4defa281bcb7fe676b56. Be sure to heed the FAQ item Jeroen linked to though when using this script:
I am blocked from TIC!
Due to some people seeing a need for quering the TIC server every couple of seconds, as they most likely put AICCU or another TIC client in some sort of looping construct, eg by using daemontools/launchd/scripting/cron/etc, we have configured a ratelimit on the service to avoid it from being overburdened by misconfigured clients.
If a client connects too frequently it will be blocked by the TIC server and a 500 error will be given pointing to this FAQ. If the client keeps on attempting to contact the TIC server even though it has been told that it is blocked, the block will be extended for a longer period of time. If we are able to determine the user causing this we will of course notify the user that this happened. It seems though that people even though informed rarely fix the problem and just keep on hammering.
As in general you will not have to connect more than once this should not pose a problem to normal clients.
To make it clear: do not run AICCU in a automatic restarting manner.
If AICCU stops working there is a reason why it did that. Check the logs and the output of the program to check why and report problems to SixXS Staff or ask the forums on how to solve a problem.
Both AYIYA and heartbeat have been designed for a variety of scenarios, eg frequently changing IP addresses there is thus no need to restart AICCU. Even if you have a mobile client you do not have to restart AICCU.
As I only run the script once every 24 hours, I don't consider this a problem.