I'm having similar problems. In 15.10 wifi worked just fine, but after
upgrade to 16.04 it does not work at all. I have the same messages in
dmesg.

[    3.487325] usb 2-1.7: Vendor: Realtek
[    3.487330] usb 2-1.7: Product: 802.11n WLAN Adapter
[    3.487335] usb 2-1.7: RTL8723AU rev B (TSMC) 1T1R, TX queues 2, WiFi=1, 
BT=1, GPS=0, HI PA=0
[    3.487338] usb 2-1.7: RTL8723AU MAC: 24:fd:52:8f:1a:52
[    3.487341] usb 2-1.7: rtl8xxxu: Loading firmware 
rtlwifi/rtl8723aufw_B_NoBT.bin
[    3.491456] usb 2-1.7: Firmware revision 31.0 (signature 0x2302)
[    3.826305] usb 2-1.7: Firmware failed to start
[    3.832910] usbcore: registered new interface driver rtl8xxxu
[    3.845035] r8723au: module is from the staging directory, the quality is 
unknown, you have been warned.
[    3.846925] usbcore: registered new interface driver rtl8723au

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https://bugs.launchpad.net/bugs/1574622

Title:
  RTL8723AU No WiFi after reboot

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