After some digging, as suggested in 
http://ubuntuforums.org/showthread.php?t=2317843 says:
"""
Following https://bbs.archlinux.org/viewtopic.php?id=204739 I downloaded the 
missing firmware file (thanks @ZombieMeat) at Dropbox and copied it to 
/lib/firmware/brcm/
"""
Actually that worked. Attaching file that fixed it

** Attachment added: "bluetooth firmware for directory /lib/firmware/bcrm/"
   
https://bugs.launchpad.net/ubuntu/+source/bluez/+bug/1589889/+attachment/4683974/+files/BCM-0a5c-6410.hcd

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https://bugs.launchpad.net/bugs/1589889

Title:
  Bluetooth search gets nothing on Dell XPS 15 9550

Status in bluez package in Ubuntu:
  Confirmed

Bug description:
  Title: Bluetooth search gets nothing on Dell XPS 15 9550

  Summary:
  Bluetooth search gets nothing on Dell XPS 15 9550

  Steps:
  1. Open Bluetooth Setting
  2. Click "+" to search nearby bluetooth devices

  Expected results: BT search could get nearby BT devices

  Actual results: Nothing shows from BT search

  Additional information:
  BT device:
  Bus 001 Device 002: ID 0a5c:6410 Broadcom Corp.
  Couldn't open device, some information will be missing
  Device Descriptor:
    bLength                18
    bDescriptorType         1
    bcdUSB               2.00
    bDeviceClass          255 Vendor Specific Class
    bDeviceSubClass         1
    bDeviceProtocol         1
    bMaxPacketSize0        64
    idVendor           0x0a5c Broadcom Corp.
    idProduct          0x6410

  CPU: Intel(R) Core(TM) i7-6700HQ CPU @ 2.60GHz (8x)

  GPU: 00:02.0 VGA compatible controller: Intel Corporation HD Graphics
  530 (rev 06)

  Manufacturer: Dell

  ProductName: XPS 15 9550

  BiosVersion: 01.02.00

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