BOISE, Idaho (AP) — Authorities will not file charges against the Canyon County deputy who shot and killed a man after responding to a domestic disturbance earlier this year.

Idaho State Police released their findings Thursday. As a result, Idaho Attorney General's Office — the special prosecutor in the case — announced it will not charge Canyon County Deputy Chad Bingham. Bingham was the first to arrive at a Middleton-area home on March 18, and Brandon Rapp, 31, emerged with a gun.

Bingham asked Rapp to lower his weapon before firing several shots. According to body cam video footage, Bingham fired his gun four times, and three hit Rapp. Rapp's family released a statement Thursday asking for privacy. Middleton is about 25 miles west of Boise.