diff --git a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
index 85236a00e6..632180f412 100644
--- a/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
+++ b/platforms/nuttx/src/px4/nxp/imxrt/board_reset/board_reset.cpp
@@ -65,9 +65,13 @@
 
 static int board_reset_enter_bootloader()
 {
+#ifdef BOARD_HAS_TEENSY_BOOTLOADER
+	asm("BKPT #251"); /* Enter Teensy MKL02 bootloader */
+#else
 	uint32_t regvalue = BOOT_RTC_SIGNATURE;
 	modifyreg32(IMXRT_SNVS_LPCR, 0, SNVS_LPCR_GPR_Z_DIS);
 	putreg32(regvalue, PX4_IMXRT_RTC_REBOOT_REG_ADDRESS);
+#endif
 	return OK;
 }
 
@@ -78,9 +82,7 @@ int board_reset(int status)
 	}
 
 	else if (status == REBOOT_TO_ISP) {
-#ifdef BOARD_HAS_TEENSY_BOOTLOADER
-		asm("BKPT #251"); /* Enter Teensy MKL02 bootloader */
-#elif defined(BOARD_HAS_ISP_BOOTLOADER)
+#ifdef BOARD_HAS_ISP_BOOTLOADER
 		uint32_t arg = 0xeb100000;
 		ROM_API_Init();
 		ROM_RunBootloader(&arg);