Moments leading up to shooting on M-43 filmed on Frost's body camera

Comes four months after the officer was cleared of criminal wrongdoing

Now, relatives have filed suit against Frost and Eaton County, Michigan

Pictures released by officials in June showed a bloodied Officer Frost with injuries to his face and head after the scuffle

This led to altercation, during which teen was fatally shot seven times

He had flashed the deputy because he believed his car beams were on

Deven Guilford, 17, was pulled over by Sgt Jonathan Frost in February

The devastated family of an unarmed teenage boy who was shot dead by a Michigan sheriff's deputy earlier this year after flashing his car lights at him has filed a lawsuit against the officer.

Deven Guilford, 17, was pulled over by Sgt. Jonathan Frost, of Eaton County Sheriff's Department, on a cold evening in February after flashing the officer because he believed his brights were on.

During the traffic stop, Guilford refused to put his hands behind his back or give Frost any official documents, leading to an altercation between them, according to county prosecutor Doug Lloyd.

This ended with Guilford lying dead in a snow-filled ditch, having been shot seven times by Frost.

SCROLL DOWN FOR BODYCAM FOOTAGE

'Tragic death': Deven Guilford (left and right), 17, was shot dead by Sgt. Jonathan Frost, of Eaton County Sheriff's Department in Michigan, after flashing the officer because he believed his brights were on

Traffic stop: This bodycam footage shows Frost pointing his stun gun at Deven on the night of the shooting

Now, the teenager's grief-stricken relatives are taking legal action against the officer and the county - four months after Lloyd cleared Frost of any criminal wrongdoing in the February 28 shooting.

In their suit, filed in federal court Wednesday, the family members claim Frost's 'entire course of action' in the fatal incident was illegal' - and that it was 'in violation of Deven's constitutional rights'.

'As we take this action today we are outraged at the huge miscarriage of justice done to our son Deven Guilford,' the boy's parents, Brian and Becky Guilford, said in a statement Wednesday.

They added that their trust in officials has been 'shaken to the core' following their son's death.

The suit requests a jury trial in the case, according to the Detroit Free Press.

However, it does not seek specific financial damages.

Guilford had just finished playing a game of basketball at a local church and was driving to his girlfriend's home in her 2010 Ford Focus on the M-43 near Mulliken at around 8.30pm when he passed by Frost, an eight-year veteran on the force who was driving a new patrol car.

Believing the officer's bright lights were on, the teenager flashed him. He was one of at least three motorists to flash Frost, implying his vehicle had 'improperly bright or misaimed' lights, the suit says.

Guilford was subsequently pulled over by Frost and asked for identifying documents.

However, he allegedly refused to give the officer his driver's license - which was actually at his girlfriend's house - as well as his registration or his proof of insurance, Lloyd told the Press.

Bloodied: These two images released by Michigan officials in June showed Officer Frost with injuries to his face and blood streaks in the wake of his alleged altercation with Guilford

X-rays showed Frost suffered no fractures to his face or head in the altercation hat resulted in Guilford getting shot dead

The officer is pictured with a black eye, a small wound on his forehead and several bruises on the bridge of his nose and his left temple

Uniformed officer: Frost reportely said he could taste blood in his mouth and felt he was about to pass out before he unholstered his gun and shot the teenage seven times

Frost then pulled the teenager out of his car and told him to lie on his stomach on the ground, which Guilford did. However, when he was asked to put his hands behind his back, he refused to do so.

Seconds later, Frost fired his stun gun into Guilford, but it was not completely effective, it is reported.

An 'altercation' then apparently occurred, which left Front bloody and resulted in Guilford's shooting death.

Photos from the night of the incident that were released by the Eaton county Prosecutor's Office in June depicted Officer Frost with facial injuries and thick, dark blood streaks on his forehead, nose and lips.

Prosecuting Attorney Doug Lloyd, who made the gory images public, said that during his scuffle with Guilford, Frost could taste blood in his mouth and felt he was about to pass out before he unholstered his gun and shot the teenage seven times at close range in the span of four seconds, reported the Detroit Free Press at the time.

After the shooting, Frost was taken to a hospital to be treated for injuries to his face and head. He was released the next morning after X-rays showed he did not suffer a fractured jaw or orbital bone, as had been initially feared.

Footage captured on the teenager's cell phone and Frost's body camera shows the officer approaching Guilford's car, before telling him: 'Trust me, I did not have [my bright lights] on.'

Caught on video: Footage captured on the teenager's cell phone and Frost's body camera on February 28 shows the officer approaching Guilford's car, before telling him: 'Trust me, I did not have [my bright lights] on'

Refusal: The deputy then repeatedly asks the boy (pictured in his girlfriend's car) for his driver's license, registration and proof of insurance - but he refuses. It later turned out his license was at his girlfriend's house

Using force: Guilford is subsequently dragged out of the vehicle (pictured) and ordered to lie on the ground

Dispute: The boy pulls out of Frost's grip and retreats further into his girlfriend's car - but is pulled out again

Both filming: Frost trains his stun gun on Guilford, while the teenager films the encounter on his cell phone

Crying out: After the teenager refuses to put his hands behind his back so he can be handcuffed, Frost can be seen physically restraining him, causing Guilford (seen on the ground) to cry: 'Officer, what are you doing?'

Frost then repeatedly asks the boy for his driver's license, registration and proof of insurance, before dragging him out of his vehicle, ordering him to lie on the ground and training his stun gun on him.

'Arms out to the side,' Frost instructs Guilford angrily.

After the teenager refuses to put his hands behind his back so he can be handcuffed, Frost can be seen physically restraining him, causing Guilford to cry: 'Officer, what are you doing?'

As the boy struggles, Frost then tasers him, prompting him to jump up. The footage then goes blurry, before cutting off altogether, so it does not depict the moment of the deadly shooting.

Frost's camera apparently came off in the struggle, while Guilford's phone lay on the sidewalk.

Guilford was pronounced dead at the scene.

Tasered: As the boy struggles, Frost then tasers him, prompting him to jump up. The video footage then goes blurry (pictured), before cutting off altogether, so it does not depict the moment of the deadly shooting

Couple: Guilford (pictured with his girlfriend in a Facebook snap) died at the scene off the M-43 in Michigan

In their statement on Wednesday, Guilford's parents referred to the video footage, saying: 'Since the moment we viewed the body camera footage our confusion has turned to outrage over what was done to Deven at the hands of Frost and the whole Eaton County “justice” system.

'We always had great respect for law enforcement and the men and women who chose that profession in the past. But we must say that belief has been shaken to the core by the actions of Frost and refusal of the Eaton County Prosecutor to hold Frost accountable.'

Cynthia Heenan, of Constitutional Litigation Associates P.C., who is representing Deven's family, said the teenager's fatal shooting represents a 'disturbing trend of demanding 100 per cent compliance with police authority, coupled with zero tolerance of risk of harm to police officers.'

She added that Guilford's death was 'tragic and totally unnecessary'.

Lloyd's decision to clear Frost of any criminal wrongdoing followed an internal investigation into the incident, which found the deputy followed official 'regulations, general orders and training'.

Hugh Davis, another attorney representing the family pits the blame on the militarization of police in the U.S.

He told CNN that it has gotten to the point where 'you can't question an officer' or else they will respond with 'violence'.

Highway: Frost was cleared of any criminal wrongdoing after an internal inquiry into the incident on the highway (file picture) found the deputy had followed official 'regulations, general orders and training'

The inquiry also found Guilford had traces of marijuana in his system.

However, the teenager's relatives maintain that Frost acted illegally by shooting Guilford dead - and that he also had no right to pull him over in the first place,The Free Thought Project reports.

They have set up a Facebook page dedicated to getting 'justice' for Guilford.

On the page, named 'Justice For Deven Guilford', they write: 'Deven Guilford was 17 years old, on his way home from a church basketball game, when he was pulled over by an eaton county police officer. This routine traffic stop turned into a struggle and Deven was shot and killed.

'Our family is seeking justice, accountability, and SUPPORT!'

In on post, Guilford's relatives explain how they are 'not anti-cop or 'anti-Eaton County' - and had 'backed every officer' involved in a shooting 'before this happened to our beloved Deven'.