I don't know how you are routing calls to Asterisk, but I do it using a URI like the following.
SP1 Service -> X_InboundCallRoute:
ph,100@192.16.1.100:5060
Just add the AA like this:
ph,100@192.16.1.100:5060,aa
By default the AA will answer in 4 seconds.
If Asterisk answers before 4 seconds you're good.
You can adjust the AA delay using parm AnswerDelay.
When Asterisk is down the AA will answer.
I did not test this setup.