if you export DISPLAY=:0 first, but still can't get xrandr output.
that indicate Xorg may not started yet, try "ps aux | grep Xorg" and check your Xorg is running or not.
if Xorg is running but you still get no output, you might get wrong device when you start the system.
I use the this board to attach HDMI LCD monitor, here is my /proc/cmdline:
console=ttymxc0,115200 root=/dev/mmcblk0p2 rootwait rw fbmem=64M video=mxcfb0:dev=vga,1920x1080M@60,if=RGB24,bpp=32
you can see my device argument: "video=mxcfb0:dev=vga,1920x1080M@60,if=RGB24,bpp=32"
I not sure what device is needed using in-board LCD panel.