Ok, the kernel driver itself does not work. So an external version seems to be 
the only solution. I finally managed to (hopefully) solve the dependencies and 
have placed a tarball into http://people.ubuntu.com/~smb/rt2x00-test/ which 
does build on my machine and also provides modules I can load (but lacking the 
real hardware I could not do any real testing). To build the modules, unpack 
the tarball run "make" and "make install". This will place the modules in the 
/lib/modules into updates. After depmod -ae an modprobe -l for the module 
should return the updates path. To boot with the modules an additional 
update-initramfs would be required.
If anybody can give that a try and feedback, that would be much appreciated.

-- 
Ralink rt2400 / rt2500 / rt2570 / rt61 / rt73 do not work out of the box in 
Gutsy/Hardy
https://bugs.launchpad.net/bugs/134660
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