I have a similar setup, and am experiencing the same problem. I have an
Atheros (madwifi) card in my laptop, and am also using OpenWrt (Kamikaze
+ X-WRT) on a Linksys WRT54G (v2.0).

I've got 2 AP's configured. The first ESSID is an unencrypted open
network, controlled by "nodogsplash". The second ESSID is protected by
WPA2 PSK, and is my private connection point not controlled by the
hotspot software. When I run "iwlist ath0 scan" from my laptop, I can
see both of them, but only the second one shows up in the nm-applet
menu. I tried swapping the order of those networks in the OpenWrt
configuration, and found that "iwlist" shows them in the same order
they're listed in the X-WRT interface, and that it's always the second
ESSID scanned that shows up in the menu.

I think that the problem is probably to be found in the way that
NetworkManagerAPList.c:nm_ap_list_merge_scanned_ap() works. I think that
it assumes that there will be only one ESSID per BSSID, which is not
always the case.

I think there can be more than one BSSID with the same ESSID, and also
that there can be more than one ESSID for the same BSSID. The list
should keep a separate record for each one, perhaps, so that both can be
seen and chosen from in the menu.

I'll try and spend some time on this also... but I won't complain if
somebody else submits the patch before I can. ;-)

-- 
[hardy] nm-applet 0.6.6 gets confused when remote ap has one bssid and multiple 
essids when using a b43 driven card
https://bugs.launchpad.net/bugs/238345
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