I don't have any custom modules to test this with yet, but here are some links you should check out:
Look through lab 4 here:
I think the answer you're looking for includes the KERNEL_MODULE_AUTOLOAD and KERNEL_MODULE_PROBECONF variables:
There are brute force approaches to getting files onto the target filesystem, of course.
Another method to load the kernel modules from boot is to use modules-load.service. The kernel modules as .ko are stored in /lib/modules/3.10.17-poky-edison+/kernel/drivers, then the config files of the modules are in /etc/modules-load.d, and the service is in /lib/systemd/system-modules-load. I suggest you to check the man page of the modules-load.d for a more detailed explanation on how it works. I hope this helps.
Thank you. I already used this guide: HOWTO: make your driver load automatically at poky boot It uses the same method you mention.
But what I really need is to generate an image with bitbake that include and loads the driver at boot.