~$ ./mavsdk_server_linux-arm64-musl
[04:16:53|Info ] MAVSDK version: v3.10.2 (mavsdk_impl.cpp:32)
[04:16:53|Info ] Waiting to discover system on udp://:14540... (connection_initiator.h:20)
[04:16:53|Warn ] Connection using udp:// is deprecated, please use udpin:// or udpout:// (cli_arg.cpp:28)
[04:16:53|Info ] New system on: 127.0.0.1:14555 (with system ID: 1) (udp_connection.cpp:263)
[04:16:53|Debug] New system ID: 1 Comp ID: 1 (mavsdk_impl.cpp:1020)
[04:16:53|Debug] Component Autopilot (1) added. (system_impl.cpp:487)
[04:16:53|Debug] MAVLink: info: GCS connection regained  (system_impl.cpp:349)
[04:16:53|Warn ] Vehicle type changed (new type: 14, old type: 0) (system_impl.cpp:323)
[04:16:53|Debug] Discovered 1 component(s) (system_impl.cpp:607)
[04:16:53|Info ] System discovered (connection_initiator.h:62)
[04:16:53|Info ] Server started (grpc_server.cpp:177)
[04:16:53|Info ] Server set to listen on 0.0.0.0:50051 (grpc_server.cpp:178)

./mavsdk_server_linux-arm64-musl -h
Usage: ./mavsdk_server_linux-arm64-musl [Options] [Connection URL]

Connection URL format should be:
  Serial: serial:///path/to/serial/dev[:baudrate]
  UDP:    udp://[bind_host][:bind_port]
  TCP:    tcp://[server_host][:server_port]

For example to connect to SITL use: udp://:14540

Options:
  -h | --help : show this help
  -p          : set the port on which to run the gRPC server,
                set to 0 to choose a free port automatically
                (default is 50051)
  --sysid     : set the MAVLink system ID of the MAVSDK server itself,
                (default is 245, range 1..255)
  --compid    : set the MAVLink component ID of the MAVSDK server itself,
                (default is 190, range 1..255)