LA CROSSE, Wis. — An investigation has cleared two La Crosse police officers who shot and killed an armed carjacker last month.

La Crosse District Attorney Tim Gruenke said Friday that officers Stephen Hughes and Andrew Adey acted in self-defense when they shot a man who led police on a high-speed chase with a baby in a stolen vehicle.

Gruenke said 54-year-old Roger Burzinski failed to comply with orders from the two officers.

Police say Burzinski stole the Chevy Trailblazer after confronting a woman at gunpoint. Police say the mother was able to get her 3-year-old from the vehicle, but Burzinski stole the SUV with her 1-year-old child still inside.

The pursuit ended when Burzinski crashed into a parked car. Police say the two officers saw that Burzinski had a gun and shot him.