This does not answer the question, it another subject (cross compilation from a SDK)?
The real question is (as I expect) is how to get a kernel module, which is marked with 'm' in the kernel config, in the /lib directory from the regular yocto build in the rootfs /lib/... directory.
In the yocto morty release I could add this in the image recipe (.bb):
IMAGE_INSTALL += "kernel-module-<the-module>"
But in the sumo release this does not work any more.
(Based on core-image-minimal)