diff --git a/src/target/riscv/riscv.c b/src/target/riscv/riscv.c
index 74f1c7eca..1d83badf0 100644
--- a/src/target/riscv/riscv.c
+++ b/src/target/riscv/riscv.c
@@ -1755,8 +1755,7 @@ int riscv_set_current_hartid(struct target *target, int hartid)
 	/* Avoid invalidating the register cache all the time. */
 	if (r->registers_initialized
 			&& (!riscv_rtos_enabled(target) || (previous_hartid == hartid))
-			&& target->reg_cache->reg_list[GDB_REGNO_ZERO].size == (unsigned)riscv_xlen(target)
-			&& (!riscv_rtos_enabled(target) || (r->rtos_hartid != -1))) {
+			&& target->reg_cache->reg_list[GDB_REGNO_ZERO].size == (unsigned)riscv_xlen(target)) {
 		return ERROR_OK;
 	} else
 		LOG_DEBUG("Initializing registers: xlen=%d", riscv_xlen(target));