Connman does not seem to start a DHCP server

Question

I am creating a USB gadget with Yocto, which loads the gadget kernel modules and is recognized by my host as a network interface (usb0). On the gadget, I have connman installed and running. I am using the default configuration (no /etc/connman/main.conf), though I have tried to manually enable the gadget in /var/lib/connman/settings:

~# cat /var/lib/connman/settings
[global]
OfflineMode=false

[Gadget]
Enable=true
Tethering=true

However, when I try to get an IP from the host (with e.g. dhcpcd usb0), it does not seem to find a DHCP server, and I get an IPv4LL instead. The journalctl of my host looks like this:

avahi-daemon[812]: Registering new address record>
dhcpcd[875]: usb0: soliciting an IPv6 router
dhcpcd[875]: usb0: soliciting a DHCP lease
dhcpcd[875]: usb0: probing for an IPv4LL address
dhcpcd[875]: usb0: using IPv4LL address 169.254.1>
avahi-daemon[812]: Joining mDNS multicast group o>
avahi-daemon[812]: New relevant interface usb0.IP>
dhcpcd[875]: usb0: adding route to 169.254.0.0/16
avahi-daemon[812]: Registering new address record>
dhcpcd[875]: usb0: no IPv6 Routers available

Note that on the gadget, I created a service profile to give an IP to the usb0 interface, which gets:

3: usb0: <BROADCAST,MULTICAST,UP,LOWER_UP8000> mtu 1500 qdisc pfifo_fast qlen 1000
    link/ether 66:7e:25:f1:3d:cf brd ff:ff:ff:ff:ff:ff
    inet 10.42.0.2/24 brd 10.42.0.255 scope global usb0
       valid_lft forever preferred_lft forever
    inet6 fe80::647e:25ff:fef1:3dcf/64 scope link 
       valid_lft forever preferred_lft forever

This is the service config:

[service_gadget]
Type = gadget
IPv4 = 10.42.0.2/255.255.255.0/10.42.0.1

What could I be missing for Connman to start a DHCP server and successfully assign an IP to the host usb0 interface when it asks for one?