Good: It works for me...

Not so good: ... but only if I get Network Settings to change the setup
(e.g. use a static IP if previously DHCP, use DHCP or a different static
IP if previously static). Then it happily connects to the wireless
network it was previously ignoring.

Prior to doing this, wlan0 doesn't seem to appear in the output of
dmesg, after doing it you can see the wlan0 authentication happening
successfully.

Ubuntu version: 8.04 Hardy Alpha6 (also same behaviour in 7.10 Gutsy)

In an attempt to solve this, I tried installing the serialmonkey
drivers, but the only difference was that it took a *lot* longer to boot
up.

Hardware, lspci reports

02:00.0 Network controller: RaLink RT2600 802.11 MIMO

relevant bits of lsmod:

rt61pci                25472  0 
rt2x00pci              11264  1 rt61pci
rt2x00lib              22528  2 rt61pci,rt2x00pci
rfkill                  8592  1 rt2x00lib
input_polldev           5896  1 rt2x00lib
crc_itu_t               3072  1 rt2x00lib
mac80211              165652  3 rt61pci,rt2x00pci,rt2x00lib
cfg80211               15112  1 mac80211
eeprom_93cx6            3200  1 rt61pci

More details available if someone tells me where the equivalent to
device manager has gone from Hardy's menus....

-- 
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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