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Three Lake Mary police officers who fatally shot a man who pointed a gun at them while they were investigating a road-rage incident have been cleared of any wrongdoing in the officer-involved shooting, according to the Office of the State Attorney.

The shooting happened May 15 around 7:15 p.m. after a driver called 911 saying that 34-year-old David Romansky brandished a gun on Lake Mary Boulevard, near the Shoppes of Lake Mary shopping center.

When Sgt. William Rodwick, Officer Martin Neal and Officer Robert Ritter approached Romansky at the shopping center, he was leaning down behind the wheel of his vehicle, possibly trying to hide, according to the report.

Cellphone video recorded by a witness and turned over to authorities showed Romansky ignoring the commands of the officers surrounding his SUV. In a report from the shooting, officers said Romansky replied, "Hell no" when officers told him to get out of the vehicle and he turned up the volume of the radio to ignore them further.