I've successfully built Yocto and can run the Linux enviroment on my embedded hardware. However, I am stuck on where how to place my program into the Image so that when I run the Linux environment on the embedded hardware, I can run my program. I've been trying to find the answer at https://www.yoctoproject.org/docs/current/mega-manual/mega-manual.html , but so far I am either missing something or not fully understanding the documentation. Does anyone have any ideas or examples to guide me to the correct path?
You need to write your own bitbake recipe for building and including the application in the image. See a hello world example here.