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I've had a problem with getting Bluetooth audio (well any bluetooth connection) to work with Ubuntu 16:04 on my HP Envy 17 which runs a Broadcom Limited BCM4352 802.11ac Wireless Network Adapter 14e4:43b1 (rev 03). After a lot of searching over the last two years, I had a clue in that there was a missing firmware driver error: $ dmesg grep bluetooth bluetooth hci0: Direct firmware load for brcm/BCM20702A1-0a5c-21fb.hcd failed with error -2 so it was just a matter of tracking down the missing piece of firmware and copying into /lib/firmware/brcm/ which I found at github: and now it works fine!