[yocto] pkg-config not found

[Mark Hawthorne]

I have an autotools build that uses the following autoconfig file:
--------------------
AC_INIT([my-program], [1])
AM_INIT_AUTOMAKE([-Wall -Werror foreign])
AC_LANG(C++)
AC_PROG_CXX
AX_PTHREAD()
PKG_CHECK_MODULES(LIBPNG, libpng >= 1.6.34)
PKG_CHECK_MODULES(FREETYPE2, freetype2 >= 21.0.15)
PKG_CHECK_MODULES(EGL, egl > 0)
PKG_CHECK_MODULES(GLES2, glesv2 > 0)
PKG_CHECK_MODULES(GLM, glm >= 0.9.9)
PKG_CHECK_MODULES(SPATIALITE, spatialite >= 4.3.0)
AC_CONFIG_FILES([Makefile])
AC_OUTPUT
--------------------

I have made the following bitbake recipe file

--------------------
SUMMARY = "my program"
HOMEPAGE = ""
DESCRIPTION = ""
LICENSE = "MIT"
LIC_FILES_CHKSUM =
"file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"

SRC_URI = "git://user@bitbucket.org/user/myrepo.git"

SRCREV = "dc1391dbc82702fd0126d4156d4ab59571427efe"

DEPENDS_${PN} = "libpng freetype glm libegl libgles2 libspatialite"

S = "${WORKDIR}/git"

inherit pkgconfig autotools
--------------------

The build fails with this error:
--------------------
configure: error: in
`/home/user/Documents/tisdk/build/arago-tmp-external-arm-toolchain/work/armv7at2hf-neon-linux-gnueabi/my-program/1.0-r0/build':
configure: error: The pkg-config script could not be found or is too old.
Make sure it is in your PATH or set the PKG_CONFIG environment variable to
the full path to pkg-config.

Alternatively, you may set the environment variables LIBPNG_CFLAGS and
LIBPNG_LIBS to avoid the need to call pkg-config.
--------------------

I have looked at several other autotools/pkgconfig recipes and it appears
that I am doing everything the same. What is missing?
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