After installing Eclipse CDT and following plugins:

• Yocto Project ADT
• Remote System Explorer End-User Runtime
• Remote System Explorer User Actions
• C/C++ Remote Launch

Configure the Yocto Project ADT Plugin as Build system derived toolchain using following values

• Toolchain Root Location: /poky/build
• Sysroot Location: /poky/build/tmp/sysroots/microzed-zynq7
• Target Architecture: armv7a-vfp-neon-poky-linux-gnueabi