UPDATE: Off-duty trooper not facing charges after shooting, killing armed man outside Tulsa motel

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TULSA, Okla. – Authorities say an off-duty Oklahoma Highway Patrol trooper who killed a man outside a motel last year will not face charges for the shooting.

Officials say 45-year-old Sheldon Robinson, who was off-duty at the time, approached two armed men outside the Best Budget Inn around 1 a.m. on Sept. 1, 2013.

Robinson told the men that he is an Oklahoma Highway Patrol trooper and asked them what they were doing.

Shortly after talking to the suspects, something happened to make him feel threatened.

Robinson opened fire, shooting and killing 25-year-old Michael Troy Swatosh.

Robinson was placed on paid administrative leave after the shooting.

On Tuesday, prosecutors announced that they would not be filing charges in the case.

Robinson has been with the force for over 16 years.

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