Can AP be engaged when sidestick or pedals out of neutral position on Airbus?

[YaYoSky]

I know that overriding the sidestick or rudder pedals when AP engaged could cause AP disconnection. But if the sidestick or rudder pedals already deflects without AP engagement, the AP can be engaged by pushing the AP button on FCU? If so, how long will AP really control the A/C to mitigate the transient?

thx