Family members on Friday identified the man fatally shot by police early Thursday in a McDonald’s parking lot in Burnsville. He was 38-year-old Map Kong, a longtime St. Paul resident, relatives said.

Also Friday, the state Bureau of Criminal Apprehension released the names of the five officers involved.

Placed on administrative leave were Sgts. Patrick Gast and Maksim Yakovlev, along with officers Taylor Jacobs, John Mott and LynRae Tonne.

The officers were responding to a call about a man acting suspiciously outside the fast-food restaurant off Hwy. 13 and Washburn Avenue. They confronted the man, who police say was brandishing a knife, and shot him dead.

The BCA did not say which of the officers fired the fatal shot or shots. The Hennepin County medical examiner’s office will conduct an autopsy.

Kong has a criminal history, with at least seven arrests since 1997 on suspicion of narcotics possession, firearm violations and domestic violence, records show.

It was the city’s first fatal police shooting in 35 years. Police Chief Eric Gieseke said the officers involved were wearing body cameras, capturing footage of the shooting.

Police were called to the McDonald’s by a customer and an employee who reported a man parked outside the restaurant “jumping up and down inside the car … It appears he may be waving a knife back and forth inside the car,” a dispatcher told officers, according to scanner audio.

“I can see him jumping around in the driver’s seat,” an officer radioed. Officers began to box the car in when an officer radioed that the suspect was “coming out with a knife.” That is when shots were fired.

Gast and Yakovlev have been with Burnsville police for 13 and 16 years, respectively. Tonne has been with the department for 17 years, Mott for eight and Jacobs for four.