There are some special considerations if you want to get efficient Yocto development and your OTA update system. The most important is managing the time it takes to build the whole image when using the Mender client with Yocto. Even when making a one line change somewhere, it will take at least 2 minutes to get the new image. If your team is doing a lot of iterations to the image, then two minutes per iteration is quite a lot to just sit around and do nothing. Our recommendation is to develop your application so that it is cross platform in such a way that you can run the application on your computer and do as much of the debugging and, you know, testing and everything there. So that you can save only like the very last integration pieces to do on the Yocto hardware.
This is a companion discussion topic for the original entry at https://mender.io/blog/efficient-yocto-development-and-ota-updates