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[Aaron Whitehouse <lists@xxxxxxxxxxxxxxxxx>]

Just confirming that I also have this problem and that this fix solved it. The line for me is now:
start on (local-filesystems and net-device-up IFACE=lo and started udev-finish)

Mythtv-frontend now starts before the backend is ready, but this is fine
as the frontend automatically keeps retrying until it comes up. There
don't seem to be any other ill effects.

-- 
myth-backend started before kernel driver it needs
https://bugs.launchpad.net/bugs/556204
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Status in Mythbuntu, Ubuntu derivative focused upon MythTV: Triaged
Status in “mythtv” package in Ubuntu: Triaged

Bug description:
In Lucid there isn't a dependency for myth-backend on kernel modules being loaded.  The result is that it can run before the kernel module for the hardware is finished loading.  The error looks like this in /var/log/myth/mythbackend.log

2010-04-05 22:06:05.431 DVBChan(3:/dev/dvb/adapter0/frontend0) Warning: Opening DVB frontend device failed.
			eno: No such file or directory (2)
2010-04-05 22:06:05.482 DVBChan(3:/dev/dvb/adapter0/frontend0) Error: Failed to open DVB frontend device due to fatal error or too many attempts.
2010-04-05 22:06:05.525 New DB connection, total: 3
2010-04-05 22:06:05.550 Connected to database 'mythconverg' at host: localhost
2010-04-05 22:06:05.566 mythbackend: Problem with capture cards: Card 3failed init
2010-04-05 22:06:05.633 DVBChan(4:/dev/dvb/adapter0/frontend0) Warning: Opening DVB frontend device failed.
			eno: No such file or directory (2)
2010-04-05 22:06:05.649 DVBChan(4:/dev/dvb/adapter0/frontend0) Error: Failed to open DVB frontend device due to fatal error or too many attempts.
2010-04-05 22:06:05.761 mythbackend: Problem with capture cards: Card 4failed init
2010-04-05 22:06:05.783 DVBChan(5:/dev/dvb/adapter1/frontend0) Warning: Opening DVB frontend device failed.
			eno: No such file or directory (2)
2010-04-05 22:06:05.790 DVBChan(5:/dev/dvb/adapter1/frontend0) Error: Failed to open DVB frontend device due to fatal error or too many attempts.
2010-04-05 22:06:05.800 mythbackend: Problem with capture cards: Card 5failed init
2010-04-05 22:06:05.807 MythBackend, Error: No valid capture cards are defined in the database.
			Perhaps you should re-read the installation instructions?
2010-04-05 22:06:05.817 mythbackend: No capture cards are defined: Please run the setup program.

My current hack, which fixes the problem but is totally the wrong thing to do, is to add the following line to /etc/init/mythtv-backend.conf

/bin/sleep 60

Instead a proper dependency needs to be added in there, I just don't know enough about upstart to know how to do it.