If you are a convicted felon, you are not permitted to possess a gun of any kind anywhere anytime.  

The police car video doesn't show enough. 

But "Officers and a civilian witness interviewed by investigators reported Taylor reached for a handgun, the statement said.  Two officers, who have yet to be identified, then fired."  They have his weapon.  

They recovered black tar heroin and crack cocaine at the hospital from his body and his prior convictions for  rape, robbery and assault will definitely reduce the family attorney's ability to get money for their loss.   

The other passengers' possession of heroin isn't going to bolster their credibility, either.