I installed the latest mt-daapd on ubuntu too, and there seems to be some problem with the (new) startup stuff in 6.10. Its not System V anymore, but something different.
Just blatantly edit /etc/rc.local and add the call to /etc/init.d/mt-daapd start to that file.
There seems to be an issue with some packages that wont totally work under 6.10. avahi-daemon for instance, refuses to start for me. I do the same rc.local trick/hack/cheat, which works.