Until NM 0.6.5 wlan in principle worked for me. Sometimes I lost the
connection and sometimes connecting just didn't worked until I restarted
NM. (feisty, gutsy, hardy)

Recently I upgraded to 0.6.6 and no wlan connection was possible.
Reinstalling 0.6.5 fixed it.

Using ...

% iwpriv ath0 mode 3

... makes 0.6.6 connecting again. 
Also I think NM works more reliable with this setting, but the time will show.

My config:
Thinkpad T43
Ethernet controller: Atheros Communications, Inc. AR5212 802.11abg NIC (rev 01)
hardy
kernel 2.6.24-11-generic, 2.6.24-12-generic
madwifi/ath_pci
knetworkmanager
WPA2

Btw: wcid didn't worked for me - just no wlan detected

-- 
A bug between Atheros Communications AR5212 802.11abg nic and  Ubuntus network 
applet
https://bugs.launchpad.net/bugs/111068
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