Tyler Heilman, 24, had just arrived home in Kasota, Minnesota, after a day's swimming with friends when he was accosted by Todd Waldron, a sheriff's deputy, who had been following him in an unmarked car.

As the pair got into a scuffle, friends of Mr Heilman insisted it was not clear that Mr Waldron was a police officer when he asked to see the other man's driving licence.

According to the friends, the two men got into an argument and ended up wrestling on the ground.

As Mr Heilman got up, he finally saw the police badge on Mr Waldron's belt, said Kris Hoehn.

"Then came the gunshots, just as my buddy's hands were going up," he said. "It was too late this officer flew up off the ground, gun in hand. If we would have known he was a cop, none of this would've happened."

Investigators believe the policeman fired four shots, two of them hitting Mr Heilman in the chest.

They said the officer had seen Mr Heilman driving erratically – at one point taking his car off the road and mounting an embankment – and had followed him.

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