You need the kernel-devel.*.rpm that matches your current rpm installed kernel.
To list what you have.
rpm -qa | grep kernel
Should see something like this based on info above.
Then you should be able to build madwifi
Also you could find and rpm for your kernel version at the http://www.atrpms.net/
Even though mention in the stanley doc, just getting the file manually instead of using a updater like yum or apt should cause no issues.
To install as root ' rpm -ivh madwifi*.rpm '
Lots of other post here on madwifi under fedora with more detail. Search here and google for more info as well.