I have the same problem, I have tried different solutions, also mentioned here, 
but none of that worked.
Until Feisty the kernel option ide=nodma at least removed the error messages 
and speed-up the boot and of course decreased hard disk performance, now withy 
Gutsy 7.10 this kernel parameter doesn't work anymore, messages are shown 
anyway and boot takes ages.

please help me
Marco

** Attachment added: "dmesg"
   http://launchpadlibrarian.net/10155270/dmesg

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DMA timeouts on UDMA harddisks
https://bugs.launchpad.net/bugs/25975
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