I just updated to xubuntu 16.04 and it did not work out of the box.
However the folder QCA6164 in /lib/firmware/ath10k is already there and
I got it to work by simple renaming the folders:

sudo mv /lib/firmware/ath10k/QCA6174/ /lib/firmware/ath10k/QCA6174_moved/
sudo mv /lib/firmware/ath10k/QCA6164/ /lib/firmware/ath10k/QCA6174/

However I am still unable to set up an ad-hoc network to share the
ethernet connection with my phone.

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https://bugs.launchpad.net/bugs/1436940

Title:
  Qualcomm Atheros QCA6164 802.11ac Wireless Network Adapter [168c:0041]
  is not supported

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