Hi,
I have successfully build meta-raspberrypi yocto layer with your git repo version. later i will test kernel and build cross build arduipilot. my goal is write a ardupilot layer and rt kernel combined. when it’s functtional welcome to give it a try. my github account is taskx6004.
i strongly recommend yocto project for distro project, Intel Edison, TI omap, and Freescale Mx all have distro layers based on yocoto, and makefile is based on bash and python. i don’t have engaging experience with Vagarnt, but it based on Ruby. Maybe comparing them i would say Vagrant suits better for Web dev, Yocoto better for embedded project.
and another thing, i hope you guys could consider open source or publish the schematics of your board, that will make some hack or community driven hardware enhancement pace much faster.
thanks.