FWIW, I did the following:

$ git clone git://kernel.ubuntu.com/ubuntu/linux-firmware.git
...
$ cd linux-firmware
$ git checkout bionic
...
$ sudo cp ath10k/QCA6147/hw3.0/* /lib/firmware/ath10k/QCA6147/hw3.0/

The new firmware seems to drop my connections much more infrequently.
Perhaps upgrading the firmware in the linux-firmware package is the
right solution here.

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https://bugs.launchpad.net/bugs/1520343

Title:
  Qualcomm Atheros wireless card [168c:003e] (rev 32) not supported

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