Hello Jupiter,
You can see the UBOOT_CONFIG parameter for booting from NAND on the i.MX Yocto Project User’s Guide (part of the BSP release documentation).
The easiest way to do this would be adding the following line to the conf/local.conf file:
UBOOT_CONFIG = \"nand\""
This will override the UBOOT_CONFIG variable. You may also create a new machine configuration file that inherits the imx6ull configuration and overwrites the UBOOT_CONFIG. You may also do this on the u-boot side but I would recommend changing the machine configuration rather than the bootloader recipe. However, there is not just one answer on how to make your own customized Yocto images.
The i.MX Porting Guide is another document that may be of help when working on your customized BSP.
Regards,