Yes. I guess you need to connect all APs to the switch (same bridged network). Clustering only makes all your AP act as one single entity ( you don't have to connect to the second AP In a cluster separately. Same wireless configuration will do).
Refer Clustering section under the below manual for further details:
Article ID:5727 Configure the Single Point Setup on the WAP581 Objective
A Wireless Access Point (WAP) connects to a router and serves as a node
to the Wireless Local Area Network (WLAN). Clustering is when multiple
WAPs are joined on the same network. Th...
Article ID:5706 Upgrade the Firmware on the WAP125 Objective New
firmware releases are improvements from previous firmware versions.
Network device performance can be enhanced when an upgrade is made.
Firmware files can be downloaded through: Trivial File...
Article ID:1972 Configure Time Settings on a Wireless Access Point
Objective The system clock provides a network-synchronized time-stamping
service for software events such as message logs. Without synchronized
time, accurate correlation of log files betw...