The original poster of this is here
Get the required packages first. sudo apt-get update && sudo apt-get install tftp-hpa tftpd-hpa
The default location for for TFTP files is /var/lib/tftpboot. You can set a different location later if you'd like, but you must chmod and chown the directory you choose.
sudo mkdir /var/lib/tftpboot
sudo chown nobody.nogroup /var/lib/tftpboot
sudo chmod 777 /var/lib/tftpboot
Edit the TFTP server configuration file to put the service in daemon mode and set a custom directory you may have chosen above.
sudo vi /etc/default/tftpd-hpa
Edit the file to your liking.
#Defaults for tftpd-hpa
OPTIONS="-l -s /var/lib/tftpboot"
Start the TFTP server. sudo /etc/init.d/tftpd-hpa start