Saw the video many times & like the Deedy/Elderts shooting at the Waikiki McD's would attribute fault at 50/50.  It appears the Castilles were so mistrusting of cops, they created a self-fulfilling prophecy of getting shot by police, including the wife filming the shooting.  The driver did not follow instructions of the cop when he said do not reach for his weapon.  Many are saying the driver was reaching for his ID but the officer does not know this so the best thing is keep your hands & arms STILL.  What is telling is the woman's baby child had to tell her mother to stop resisiting or doing things that would result in police exerting force on her.  In hindsight when the driver was NOT following voice commands to keep his hands in plain sight, the cop could have retreated & taken a defensive position behind the Castilles car as he had another officer as backup.  It appears the justice system did the right thing in not finding the cop innocent of murder, but rightfully fired.