I did setup something similar using 3com APs and all is still working perfectly.
What I did is :
Vlan conf on NIC rl1:
SSID 1: Vlan 4
SSID 2: Vlan 5
APs conf:
APs mapping each SSID on the correct Vlan, Administration of the APs enabled for wired access only, no vlan on the "admin" link.
Network interface on pfSense:
RL1 : 172.16.1.0/24 network for monitoring the APs so each AP got an ip in this range
RL1/VLAN4 : 172.16.2.0/24 network for first SSID, the public one unencrypted and broadcasted(DHCP and captive portal enabled, limited traffic by firewall rules)
RL1/VLAN5 : 172.16.3.0/24 network for the second SSID, the private one that is encrypted (WPA2 PSK AES) and not broadcasted (DHCP enabled, all trafic alowed)
So I've got a network for the APs themselves, usefull for monitoring it ;-) and two other networks for each SSID. Firewall rules prevent public traffic from going to private networks.