No charges will be filed against the state trooper who shot and killed a Hudson Valley man.

The New York Attorney General's Office announced it will not pursue charges in the 2022 fatal shooting of 35-year-old Daniel McAlpin inside his Pine Bush home.

The incident was captured on body camera. Investigators say McAlpin was armed with a knife and an airsoft gun when he moved toward officers.

While the trooper was cleared, the attorney general's office recommended that state police improve training for officers responding to mental health crises.