The situation would require a book, but here's the simplest I can do, yet it will miss many of the more detailed legal points and citations.
My wife an I both witnessed him say he was amending the charge because he made a mistake. He then went into the court and told the magistrate he was amending the charge to "cut us a break". The magistrate then issued a continuance (instead of dismissing if he knew the true reason). The incorrect charge carried pretrial restriction only found under that charge and the trooper knew that the charge was incorrect for about 6 weeks. State law only allows amendments if the rights of the defendant were not violated (there were 2 other rights violated later, and multiple procedural mistakes too). Subjecting someone to pretrial restrictions under a charge that is known to be wrong is unusual punishment and also a violation of the state constitution. So it would require dismissing the case. We found proof supporting this in the trooper's later testimony where he stated that he knew it was incorrect for those 6 weeks, yet held it against us anyways. The IAD investigation found that he did tell us the correct thing and then told the court something wrong 10 minutes later. The report said it was a "misunderstanding", without any details or explanation.
Later he claimed that a picture he introduced in court was in the investigative file "since the beginning", yet it was not furnished to us when we subpoenaed the file. Another IAD investigation found that the picture wasn't placed in the file until a later time. The magistrate did not throw out the picture because he thought we had access the whole time and we didn't have access to that IAD finding until after the trial (not sure if I trust this or they were covering). Furthermore, the picture was exculpatory evidence under the incorrect charge and should have been furnished to us regardless of the subpoena. So much for Brady...
He made 2-3 other factually incorrect statements that I did not have hard evidence of (just our word against his). These included things like changing his story in a contradictory way. We did have a recording of his testimony and a phone call with him (both consistent with law).
The complaint process also treated us adversarially, which is a violation of feral policy (hence complaint to DoJ). The state police claim they can knowingly hold incorrect charges against people.