Pension Credit/ AA after living here 5 years?

Hi

I have a situation as follows and cant seem to get an answer:

Daughter lives in Uk and married with children to Uk national.

her mum and dad unable to live alone any longer moved from lithuania to UK 5 years ago, daughter has supported them for last 5 years as they have very small state pensions paid into a polish bank. 

Both would easily meet the criteria for AA and have nowhere near the PCGC income for a couple.  They have a small blue card to say they can live in uk this was applied for 6 moths after moving into the country and not sent to them until a further year after that ( so they had already been here 18 months at this point and card is dated when issued 18 months later).

The daughter says their passports are stamped no recourse to public funds and hence she has supported them but as they have been habitually resident for the last 5 years is there any point they become able to claim AA and Pension credit?