I have been having the same problem. When I boot up, my eth1 is brought
up, but wpa_supplicant is not started, so I have to manually bring eth1
down and up again to get my wireless networking working. Disabling the
ifupdown udev rule has fixed the problem, so I'm fairly certain that
this bug is caused by udev bringing up the interface too early, so that
wpa_supplicant fails to start. I thought perhaps the problem might be
that / is still mounted read-only when udev brings up the interface?

Perhaps a fix would be to somehow modify the udev rule so that it does
not trigger at boot time? I don't know if there's a way to do this, but
surely the intention of this rule is to do hotplugging of network
devices after bootup, rather than bringing up interfaces at boot (that's
what /etc/init.d/networking is for). So perhaps instead of bringing up
the interface, the udev rule should call a script that tests whether the
system is booted up already and then brings up the interface.

Here's my interfaces file:

auto lo eth1

iface lo inet loopback

iface eth0 inet dhcp

iface eth1 inet manual
    wpa_roam /etc/wpa_supplicant.conf

iface solis-air inet dhcp

iface huisnet inet static
    address 192.168.0.2
    netmask 255.255.255.0
    broadcast 192.168.0.255

iface default inet dhcp

And my wpa_supplicant.conf:

# allow config file overwrite
update_config=1

# path to UNIX socket control interface
ctrl_interface=/var/run/wpa_supplicant

# scanning mode
ap_scan=2

# auth timeout
dot11RSNAConfigSATimeout=90

# Ad-Hoc home network
network={
    priority=2
    id_str="huisnet"
    scan_ssid=1
    ssid="Hein"
    mode=1
    key_mgmt=NONE
    auth_alg=SHARED
    group=WEP104
    wep_key0=<key>
    wep_tx_keyidx=0
}

# SOLIS_AIR
network={
    priority=2
    id_str="solis-air"
    ssid="SOLIS-AIR"
    scan_ssid=1
    key_mgmt=IEEE8021X
    eap=TTLS
    phase2="auth=PAP"
    identity="<username>"
    password="<password>"
}

# other (open)
network={
    key_mgmt=NONE
}

-- 
Manual WPA networks doesn't connect at boot
https://bugs.launchpad.net/bugs/53387
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