imx6ull-based Variscite SOM: how to boot my app?

I'm developing on a VARISCITE SOM DART-6UL, based on IMX6 UltraLight NXP ARm Cortex A7. I followed the tutorial written by Variscite to build image and toolchain based on Yocto Project.

All steps are ok and I flashed a SD card perfectly running.

Inside it, I put  my example in its home folder and when I launch it, it works with no problem.

Now, my aim is to boot with my example directly: I can do this? How can see my app wahen system starts up?

No tutorial Or indications Or examples found about this issue.

Paolo