The police officer who shot and killed Philando Castile has resigned from the St. Anthony, Minnesota, police department. Jeronimo Yanez was acquitted on manslaughter charges in June. He was captured on video firing into Castile’s car at point-blank range during a traffic stop. In a statement Monday, the city announced that its “public will be best served” if Yanez left the police force. The Associated Press reports Yanez and the city reached a $48,500 buyout agreement.