yes there is.... i have tested on 9.04 9.10 and 10.04 and it works :D  on my 
atheros....

look here i have used the trick and not madwifi ....

http://nowardev.wordpress.com/2009/05/06/kubuntu-904-atheros-
communications-inc-ar242x-80211abg-wireless-pci-express-adapter-rev-01/

basically you have to consume the residual voltage ..... to do this

-turn off your pc 
-disconnect the plug  :now your pc can't be turned on but there are some 
residual voltage (i guess)
-now press the computer’s button (which should turn on your computer i guess 
this should consume residual voltage)
-now plugin voltage 
-start your pc :) and your silly atheros should work again with ath5k.

another way check if your atheros is supported by madwifi and download
and compile them like i have written on my blog.

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Ath5k doesn't work anymore! SIOCSIFFLAGS: Resource temporarily unavailable
https://bugs.launchpad.net/bugs/299993
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