I have also good news: My system is up and running now for 8 days with a total 
load of 4,0GB(Down) and 2,1GB(Up).
Solution by now was changing the driver to ath5k (for Atheros 9xxx use ath9k). 
Be aware that it gives a new problem (see #291760), but it doesn't affect my 
system much and everything is running stable.

So here's it all together:
Channel: 1
Mode: 54g
Driver: ath5k

I haven't tried yet if it's still stable when using a higher channel,
but maybe someone else likes to test it!?

-- 
Madwifi (atheros) driver malfunction induces a system freeze
https://bugs.launchpad.net/bugs/276445
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