* install latest madwifi drivers
* make sure you dont get any errors
* reboot
* ues this code to connect

Code:
rm -Rf /etc/chcpc/*
ifconfig wlan0 down
iwconfig wlan0 essid "YOURAPNAME"
ifconfig wlan0 up
dhcpcd wlan0

you may need to update wpa_supplicant ( I had issues connecting using the wlassistant and after that update it now works using wlassistant ( sometimes I have to down / up the device have not quite figured it out