It definitely does not rediscover config changes.
If you make a change to the device, you have to rediscover manually. You then have to confirm to accept the changes.
From what I can tell, Cisco has made many changes to IP SLA on different platforms and different versions of IOS. The differences are not well documented. They haven't done a feature mapping wiki, for example, like they did with IPv6. So, many of the examples you find for IP SLA beyond basic echo tests simple do not work on every device. This is a huge challenge for developers.
If everyone would press their Cisco rep for better and more consistent documentation, all vendors and customers would benefit.
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