Probably worth keeping it here. Try running a series of tests

udevadm test $(udevadm info --name="/bus/usb/002/006" --query=path)
udevadm info --name="/bus/usb/002/006" --query=all
udevadm info --name="/bus/usb/002/006" --attribute-walk 

(Change the entry in the --name parameter to match the name allocated to
the device in the syslog.)

All that should give us an idea why you're not running the firmware
load.

-- 
madfuload doesn't work on Jaunty
https://bugs.launchpad.net/bugs/330573
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