For those, who have an Atheros 5007EG chipset and can't get it working with ndiswrapper, I have this guide from polish ubuntuforum. This is the only solution that worked on my computer (Toshiba SAT-A210-128), and my brothers computer.
This guide only works on i386 platforms, so if you're running an x64 linux, then you've to try again with ndiswrapper or wait for a new solution from atheros and madwifi.