Simon Murden worked for his father's fair trade charity
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The inquest into Simon Murden's death marked the culmination of three years of anguish and wait for those caught up in the events of 22 March, 2005.
The incident was the first time Humberside Police officers had shot and killed anyone.
Force chiefs have always insisted they had no choice but to fire the shots which killed the 26-year-old.
And an inquest has now ruled that he was justifiably killed.
Humberside Police's defence was that Mr Murden, who was suffering a "psychotic incident" thought to be triggered by taking cannabis, was acting in such an unpredictable manner that their actions were necessary to protect themselves and the public.
Speaking at the time, the force's Chief Constable Tim Hollis said his officers had been confronted with a "volatile situation" in which they had only moments to make decisions.
Protected identities
It was the decision to fire these shots which has come under scrutiny.
The Association of Chief Police Officers guidelines on the use of firearms states opening fire should happen only "when absolutely necessary".
It continues: "The imminence of any threat should be judged, in respect to the potential for loss of life, with due regard to legislation and consideration of necessity, reasonableness and proportionality."
His parents have campaigned for the officers to face charges
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During the lengthy inquest, evidence was heard from the officers who were called to the A63 near Hull after reports Mr Murden had driven the wrong way down the road and had a weapon.
Their identities have never been revealed since the coroner made an order, following a request from Humberside Police Federation, to grant them anonymity.
The officers who fired the shots, have been referred to only as officer C and officer D.
Officer C described how Mr Murden, who lived with his parents in Beverley, had walked towards him and drew a sword as if he was going to strike someone.
The inquest was told that two baton rounds had been fired at charity worker Mr Murden, but that it had no effect. Officer C then fired shots from his rifle at Murden who was about 9m (29ft) away but he continued to get to his feet.
He told the hearing: "I honestly thought I was going to die."
Officer D, fearing his colleague was going to be injured by Mr Murden, also fired his pistol once.
Police at the incident scene in March, 2005
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Mr Murden's parents Dave and Dorothy said they refused to understand or justify the officers' actions.
Describing their son as gentle, sensitive, humorous and "calm in all circumstances", they said "he did not deserve such a shocking death at the hands of police".
They have campaigned for the officers involved in the shooting to face criminal charges.
Their devastation was compounded when following an investigation by the Independent Police Complaints Commission (IPCC), it was announced that no charges would be brought.
The family's appeal against the decision was turned down.
On a website dedicated to their son, his parents said: "Simon Murden was shot dead by Humberside Police in circumstances which are shocking and beyond any normal understanding."
One dedication reads: "[Simon] was such a good man. Simon and his dad, David, worked devotedly for their own charity in Africa; they are true life-savers."
Mr and Mrs Murden said they never wanted revenge against the police, but accountability from everyone involved in their son's shooting.
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