FreeBSD 10 to 11 has a network code split and it's almost impossible to backport driver fixes.
FreeBSD 10.1 to 10.2 itself hasn't updated Atheros drivers
Far from almost impossible, we've done it multiple times with net80211 and ath(4) and it wasn't even all that difficult.
The non-cosmetic stuck beacon issues are gone since the initial back port in 2.2.1.
Might I recommend: https://github.com/pfsense/FreeBSD-src10-STABLE with -CURRENT's net80211 and ath(4).
We're switching to FreeBSD 10.3 in 16.7 (or some time in the 16.1.x series depending on how smoothly that transition is). I will provide test builds as soon as 10.3 is officially out (end of this month). Hopefully, this will have driver updates you seek.