[Bug 37697] Re: wpasupplicant only authenticates immediately after atheros kernel modules freshly loaded.

[Przemysław Kulczycki]

Also please note that madwifi has been deprecated upstream in favour of ath5k and ath9k drivers.
You should use them in the latest versions of Ubuntu, if you have a card that was using madwifi.

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wpasupplicant only authenticates immediately after atheros kernel modules freshly loaded.
https://bugs.launchpad.net/bugs/37697
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