I've ported FBReader and a soduku program to the iLiad. I've also updated the ContentBrowser to support FBReader extensions.
You'll do the programming in Anjuta (or vim if you're hardcore
). Then you'll cross compile, and test your programs in the Poky/Qemu emulator. In there you will have to create and test the necessary launchers. When that's all ready, only then will you copy the launchers to the SD card and test on your DR.
The physical device isn't necessary for most of development.