The U.S. Court of Appeals for the Eleventh Circuit has revived a suit filed by the parents of Anthony Hill, a 27-year-old Afghanistan veteran who was naked, unarmed and suffering a mental episode in March 2015 when a responding officer shot and killed him as he approached the patrol car.

Hill’s parents, Carolyn Giummo and Anthony Hill Sr., sued DeKalb County police officer Robert Olson, the police department, the then-county CEO and the Board of Commissioners in Georgia’s Northern District Court asserting federal claims for violations of Hill’s constitutional rights, as well as state wrongful death claims.