The problem with the headset connection was caused by a missing package
in xubuntu. I installed pulseaudio-module-bluetooth and now everything
works as expected!

To summarize:

For xubuntu, pulseaudio-module-bluetooth should be included by default.

For wily, the files
/lib/firmware/ar3k/AthrBT_0x31010100.dfu
/lib/firmware/ar3k/ramps_0x31010100_40.dfu
should be included.

For xenial, the .dfu files are present, but the kernel should be
patched.

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https://bugs.launchpad.net/bugs/1542944

Title:
  QCA9565 / AR9565 bluetooth not work

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