Intel AX200 bluetooth is not stable on Ubuntu 18.04

[273896587]

dmesg message:

[127123.832636] input: MINISO-K66 Consumer Control as /devices/pci0000:00/0000:00:14.0/usb1/1-4/1-4:1.0/bluetooth/hci0/hci0:256/0005:05D6:000A.0017/input/input75
[127123.832863] hid-generic 0005:05D6:000A.0017: input,hidraw3: BLUETOOTH HID v2.40 Device [MINISO-K66] on 48:51:c5:7e:bd:9f
[127210.072008] userif-3: sent link down event.
[127210.072012] userif-3: sent link up event.
[127538.625230] userif-3: sent link down event.
[127538.625236] userif-3: sent link up event.
[127810.100467] userif-3: sent link down event.
[127810.100471] userif-3: sent link up event.
[128720.890536] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890541] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890542] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890544] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890545] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890547] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890548] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890550] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890551] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890553] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890554] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890556] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890557] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890559] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890560] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890562] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890563] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890565] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890566] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890568] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128720.890569] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128721.002494] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128721.416496] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128722.251531] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128722.251536] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128722.254493] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128722.254496] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128722.254498] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128722.254500] Bluetooth: hci0: Received unexpected HCI Event 00000000
[128723.277471] Bluetooth: hci0: command 0x1405 tx timeout
[128778.444082] Bluetooth: hci0: link tx timeout
[128778.444089] Bluetooth: hci0: killing stalled connection 7c:ce:58:22:8b:80

bluetooth.service status:
sudo systemctl status bluetooth.service
[sudo] password for yanghuafang:
● bluetooth.service - Bluetooth service
   Loaded: loaded (/lib/systemd/system/bluetooth.service; enabled; vendor preset: enabled)
   Active: active (running) since Thu 2021-09-23 10:56:03 CST; 1 day 1h ago
     Docs: man:bluetoothd(8)
 Main PID: 17790 (bluetoothd)
   Status: "Running"
    Tasks: 1 (limit: 4915)
   CGroup: /system.slice/bluetooth.service
           └─17790 /usr/lib/bluetooth/bluetoothd

Sep 24 09:25:53 yanghuafang-XPS-15-9570 bluetoothd[17790]: /org/bluez/hci0/dev_7C_CE_58_22_8B_80/fd7: fd(35) ready
Sep 24 11:04:27 yanghuafang-XPS-15-9570 bluetoothd[17790]: Can't get HIDP connection info
Sep 24 11:04:30 yanghuafang-XPS-15-9570 bluetoothd[17790]: /org/bluez/hci0/dev_7C_CE_58_22_8B_80/fd8: fd(35) ready
Sep 24 11:32:02 yanghuafang-XPS-15-9570 bluetoothd[17790]: No reply to Suspend request
Sep 24 11:32:33 yanghuafang-XPS-15-9570 bluetoothd[17790]: Can't get HIDP connection info
Sep 24 11:32:33 yanghuafang-XPS-15-9570 bluetoothd[17790]: connect error: Device or resource busy (16)
Sep 24 11:33:03 yanghuafang-XPS-15-9570 bluetoothd[17790]: Can't get HIDP connection info
Sep 24 11:33:03 yanghuafang-XPS-15-9570 bluetoothd[17790]: connect error: Device or resource busy (16)
Sep 24 11:33:33 yanghuafang-XPS-15-9570 bluetoothd[17790]: Can't get HIDP connection info
Sep 24 11:33:33 yanghuafang-XPS-15-9570 bluetoothd[17790]: connect error: Device or resource busy (16)

ProblemType: Bug
DistroRelease: Ubuntu 18.04
Package: alsa-base 1.0.25+dfsg-0ubuntu5
ProcVersionSignature: Ubuntu 5.4.0-86.97~18.04.1-generic 5.4.133
Uname: Linux 5.4.0-86-generic x86_64
NonfreeKernelModules: nvidia_modeset nvidia
ApportVersion: 2.20.9-0ubuntu7.26
Architecture: amd64
AudioDevicesInUse:
 USER PID ACCESS COMMAND
 /dev/snd/controlC0: yanghuafang 4442 F.... pulseaudio
CurrentDesktop: ubuntu:GNOME
Date: Fri Sep 24 11:48:29 2021
InstallationDate: Installed on 2020-06-01 (479 days ago)
InstallationMedia: Ubuntu 16.04.6 LTS "Xenial Xerus" - Release amd64 (20190227)
PackageArchitecture: all
SourcePackage: alsa-driver
Symptom: audio
Title: Bluetooth sound card not detected
UpgradeStatus: No upgrade log present (probably fresh install)
dmi.bios.date: 06/07/2021
dmi.bios.vendor: Dell Inc.
dmi.bios.version: 1.20.0
dmi.board.name: 0D0T05
dmi.board.vendor: Dell Inc.
dmi.board.version: A00
dmi.chassis.type: 10
dmi.chassis.vendor: Dell Inc.
dmi.modalias: dmi:bvnDellInc.:bvr1.20.0:bd06/07/2021:svnDellInc.:pnXPS159570:pvr:rvnDellInc.:rn0D0T05:rvrA00:cvnDellInc.:ct10:cvr:
dmi.product.family: XPS
dmi.product.name: XPS 15 9570
dmi.product.sku: 087C
dmi.sys.vendor: Dell Inc.