Hi,
Im not to much into using ubuntu or pre-build images, so if what you are looking for is pre-build images I cant help you, sorry.
By other hand, using yocto, are you including the modules on your image? Yocto can include the modules is you instruct it by IMAGE_INSTALL_append = "kernel-modules": for example, I manage to connect a usb uvc camera, also some interaction with the wifi so not sure what you are telling by no modules drivers or modules detected. In yocto as it is a custom image if you not include it it will not be there.
If you are adding new drivers so you need to modify the recipes and do more fun stuff to it.
If you are not to familiar with yocto I recommend to you to:
1. Create the build directory
2. Source the Yocto script to prepare environment
3. Run Hob, this will let you to configure your image, add the meta layers you want to use
4. Select the machine and the recipes to build, use core-image-minimal initially
5. Select to create your image.
Regards
--Allan