Brad,
Configuration changes that change any settings on the APs require generating and pushing a new configuration which will require a "soft" reboot of about 20-30 seconds (Th AP itself won't power cycle, but the software will restart).
As of version 2.9.0, we do offer the ability to schedule an AP apply to APs that are in a modified state. This allows you to push the changes at your lowest points of client use.
Thanks,
Evan
ADTRAN Product Support Engineer