A search for charged Higgs bosons is presented in the H$^{\pm} \to \tau^{\pm}\nu_\tau$ decay mode in hadronic and leptonic final states. The search is based on 35.9~\mathrm{fb}^{-1} of pp collision data recorded by the CMS experiment in 2016 at a center-of-mass energy of 13 TeV. The results agree with the expectation from the standard model. Upper limits at the $95\%$ confidence level are set on the production cross section times branching fraction to $\tau^{\pm}\nu_\tau$ for a charged Higgs boson in the mass range from 80 to 3000 GeV, including the mass region near the top quark mass. The observed limit ranges from 6.0 pb at 80 GeV to 0.005 pb at 3 TeV. The limit is interpreted in the context of the MSSM $m_\mathrm{h}^\mathrm{mod+}$ scenario.

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