Comment 4 for bug 227881

To run tftpd-hpa as a daemon:

#purge old config
sudo aptitude purge tftpd-hpa openbsd-inetd

# install only tftpd-hpa
sudo aptitude -R install tftpd-hpa

# enable RUN_DAEMON
sudo sed -i 's/.*RUN_DAEMON.*/RUN_DAEMON="yes"/' /etc/default/tftpd-hpa

# disable tftp inetd supervision
sudo sed -i 's/^tftp/#<off># tftp/' /etc/inetd.conf # has the same effect as: sudo update-inetd --disable tftp

## if needed
sudo update-rc.d -f tftpd-hpa remove # remove auto boot
sudo update-rc.d tftpd-hpa start 20 2 3 4 5 . stop 20 1 . # reinstall auto boot
# sudo /etc/init.d/tftpd-hpa restart is broken (the restart script exits after executing the first stop), use instead:
sudo /etc/init.d/tftpd-hpa stop
sudo /etc/init.d/tftpd-hpa start