Looks like a regression from Karmic.

This was solved since bug #339891 (at least for most people).

The only changes to do in the driver config.mk are (using the driver version 
from ralink because I don't know where to get the source in ubuntu repository - 
2010-01-29-RT2860-Linux-STA-v2.3.0.0.tar.bz2)
HAS_WPA_SUPPLICANT=y
HAS_NATIVE_WPA_SUPPLICANT_SUPPORT=y

To be noticed that under Karmic the wifi interfice was called ra0 then
in Lucid it is called wlan0 until you use the above driver from ralink
then the interface is renamed ra0 (not important but well...)

-- 
[lucid] rt2860 frequently fails to connect to mixed mode WPA/WPA2 secured 
wireless networks
https://bugs.launchpad.net/bugs/496093
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