diff --git a/doc/openocd.texi b/doc/openocd.texi
index 0e92a9dee..2624477ea 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -9468,20 +9468,20 @@ This is used to access 64-bit floating point registers on 32-bit targets.
 @end deffn
 
 @deffn Command {riscv set_prefer_sba} on|off
-When on, prefer to use System Bus Access to access memory.  When off, prefer to
-use the Program Buffer to access memory.
+When on, prefer to use System Bus Access to access memory.  When off (default),
+prefer to use the Program Buffer to access memory.
 @end deffn
 
 @deffn Command {riscv set_enable_virtual} on|off
 When on, memory accesses are performed on physical or virtual memory depending
-on the current system configuration. When off, all memory accessses are performed
+on the current system configuration. When off (default), all memory accessses are performed
 on physical memory.
 @end deffn
 
 @deffn Command {riscv set_enable_virt2phys} on|off
-When on, memory accesses are performed on physical or virtual memory depending
-on the current satp configuration. When off, all memory accessses are performed
-on physical memory.
+When on (default), memory accesses are performed on physical or virtual memory
+depending on the current satp configuration. When off, all memory accessses are
+performed on physical memory.
 @end deffn
 
 @deffn Command {riscv resume_order} normal|reversed
diff --git a/src/target/riscv/riscv.c b/src/target/riscv/riscv.c
index 61aaa5d9f..0adc2994d 100644
--- a/src/target/riscv/riscv.c
+++ b/src/target/riscv/riscv.c
@@ -2541,7 +2541,7 @@ static const struct command_registration riscv_exec_command_handlers[] = {
 		.mode = COMMAND_ANY,
 		.usage = "riscv set_prefer_sba on|off",
 		.help = "When on, prefer to use System Bus Access to access memory. "
-			"When off, prefer to use the Program Buffer to access memory."
+			"When off (default), prefer to use the Program Buffer to access memory."
 	},
 	{
 		.name = "set_enable_virtual",
@@ -2550,7 +2550,7 @@ static const struct command_registration riscv_exec_command_handlers[] = {
 		.usage = "riscv set_enable_virtual on|off",
 		.help = "When on, memory accesses are performed on physical or virtual "
 				"memory depending on the current system configuration. "
-				"When off, all memory accessses are performed on physical memory."
+				"When off (default), all memory accessses are performed on physical memory."
 	},
 	{
 		.name = "expose_csrs",
@@ -2653,7 +2653,8 @@ static const struct command_registration riscv_exec_command_handlers[] = {
 		.handler = riscv_set_enable_virt2phys,
 		.mode = COMMAND_ANY,
 		.usage = "riscv set_enable_virt2phys on|off",
-		.help = "Enable translation from virtual address to physical address."
+		.help = "When on (default), enable translation from virtual address to "
+			"physical address."
 	},
 	{
 		.name = "set_ebreakm",