After some more experimentation, here's what James was aiming for back in 2010, in a form tested to work on Kubuntu Linux 20.04 LTS:
sudo atftpd --logfile - --no-fork --verbose=5 --trace --daemon /srv/tftp
The key details are as follows:
--logfile /dev/stdout apparently doesn't work in the X11 terminal emulators I was trying, but --logfile - does. What's misleading is that it appears to work, in that some output is produced.
--verbose 3 doesn't produce any request logging. You need at least --verbose 5 for that. (--verbose 7 --trace is maximum verbosity)
/srv/tftp is the default TFTP root path on *buntu that will be set up when you install atftpd.
Here's the result:
ssokolow@monolith ~ % sudo atftpd --logfile - --no-fork --verbose=5 --daemon /srv/tftp
Jan 16 18:33:28 monolith atftpd[2933437.140296925675584]: Advanced Trivial FTP server started (0.7)
Jan 16 18:33:32 monolith atftpd[2933437.140296925587200]: Serving default to 192.168.0.2:41416