Q: which inkjet printer works with ios 5.1.1

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List of supported AirPrinters.

    https://support.apple.com/en-us/HT201311

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printing to a non-airprinter from an iPad

To print from the iPad, your going to have to install some more software:

-- install a printer app on the ipad. many printer makers have iPad applications for their printers.  Look in the app store

-- install enabling software on a computer which you have connected the printer

For a comprehensive list of links,

   see Texas Mac Man list:

     https://discussions.apple.com/message/21291967#21291967

   or

     http://ipadhowtouseit.com/ipad-printing/

iPad Print Applications supplied by printer manufactures -- usually free: