The confrontation took place on Nicolet Avenue, north of Glendale Avenue. Police said Peters had violated an order of protection that barred him from the residence and from possessing firearms or ammunition. His adult daughter, who lived in the home with him, called 911 and said she feared for her safety.

“I have an order of protection, and I have somebody in my house trying to kill me,” she told the dispatcher. She added that Peters was her father and said she feared he would kill her if she drove into the driveway alone.

Officers found the daughter parked nearby. They were told they had prior contact with Peters and that he might be experiencing a mental health crisis. Glendale police called in the SWAT team and tried to get him to leave the home peacefully.

Police said Peters began firing at officers through the front door after SWAT arrived. In the released footage, an officer can be heard reporting, “Shooting out the front door!” The recordings capture sounds of gunfire exchanged between Peters and officers.

Peters remained barricaded inside and called 911 himself, telling a dispatcher that he was armed. Asked whether he had weapons, he replied, “For my protection, yes,” and said he would not put them down. He also told the dispatcher that officers were at his front door and “tearing down my house.”

The gunfire continued for hours, according to police. It had stopped by about 6 p.m. Officers then sent a drone into the home and found Peters dead. No officers were seriously injured.

Police have not provided further details in the available account about how Peters died. The circumstances of the shooting are still under review.