Probably the best sci-fi series of all time IMO, but Fox aired the shows in the 'Friday night death slot' and they also aired them out of order. At least they got to make the film to finish things off.
Fox also fought Whedon tooth and nail about the most minute of plot points, and the literature published about the behind the scenes stuff hints that they became more forceful as the series continued.
Above all though, Fox screwed up the marketing. They initially pushed it as a goofy/wacky comedy (they used Smashmouth for the original promos,
All the subsequent screw ups were just more nails in the coffin.
Many people seem hesitant about dumping the blame solely at the shuffling feet of Fox execs (and there probably were lots of other factors that contributed to the show's demise), but pretty much every piece written about it shows that Fox really did drop the ball.
I really do miss that show. It made the whole space cowboy thing seem so awesome, believable, and human.
Time for another firefly marathon!