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APPLETON, Wis. (AP) — A prosecutor says no charges will be filed against five Appleton police officers involved in a man’s deadly shooting earlier this month.

Outagamie County District Attorney Melinda Tempelis said Friday the man had pointed a shotgun toward officers and urged them to fire at him.

Tempelis says the officers feared “imminent death or great bodily harm,” and that their use of deadly force was justified.

Fifty-year-old David Robinson was shot by police outside his Appleton home on May 7. The DA says Robinson held a shotgun and yelled “shoot me” and “kill me” at officers before he was shot.

USA Today Network-Wisconsin reports Robinson also yelled, “I’m loading this.” Tempelis said the investigation showed his shotgun was not loaded.

No officers were hurt. The officers will return to active duty.