It is indeed a problem with Network Manager, and not the madwifi drivers.  I 
have worked around this by uninstalling network manager, and simply configuring 
wpa_supplicant by hand.  This involved putting a startup script in /etc/init.d  
 that starts wpa_supplicant at bootup.
If you want to make it able to start, stop, and restart it like a normal 
debian-style init.d script, then you'll have to create a different one.  Mine's 
just a quick hack, and it's all I need:

#!/bin/bash
wpa_supplicant -Bw -qq -Dmadwifi -iath0 -c/etc/wpa_supplicant.conf

Of course, adjust options to suit your interface and configuration file path, 
etc...    After putting this script in /etc/init.d,  I made a symlink to that 
script in /etc/rcS.d .  It must come before networking in the boot process.  I 
named it "S40iwpasupplicant" so that it came just before "S40networking".
I'm sure there's a more official way of doing this that is cleaner, but this 
worked for me.

-- 
Regular network drops with madwifi
https://bugs.launchpad.net/bugs/37821
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