If TIVO box can do like VCR, blindly record, whatever you feed in it, then it should work. If the TIVO box requires TV guide, then no, FTA has no EPG to read from.
But here is just one of many solutions:
http://www.mythtv.org//modules.php?name=MythInfo
As they say, why do you need TIVO, when you can go FREEVO?
For myself, I have a Twinhan USB Starbox, but I did not try to record anything yet, just set up everything last weekend