The HV20 records 24(23.98) within 60i even though it has a progressive chip.
What are your sequence settings with the XH-A1 footage? 23.98 or 60i?
If you are in 23.98 use JES Deinterlacer on the HV20 footage and you will be all set.
http://www.xs4all.nl/~jeschot/home.html#DEI
If your current sequence is HDV 60i, then you need do nothing but bring in the HV20 footage as is.
24F is Canon's way of saying they are not using a progressive chip but still give you 24p. This has been the source of much confusion and probably a loss of a lot of sales for Canon especially considering the quality of the XH-A1 footage that IS progressive once it is brought in properly to a 23.98 project.