Phoenix police were called to Michelle Cusseaux's home three years ago to take her to the hospital.

She ended up dead.

A new study done in the wake of her death finds both Phoenix police and the mentally ill worried about how they relate to each other.

"Her mom was concerned and it ended up with her being shot," said Erica McFadden, lead author of a new study of how Phoenix police and others respond to mentally ill residents in crisis, like the 50-year-old Cusseaux.

"This (study) is actually showing what people with mental health issues are saying that they want from officers," McFadden said of the report, by the Phoenix Mayor's Commission on Disability Issues.

In a survey of mentally ill residents, 50 percent said police were helpful but 45 percent said police made the situation worse.

They "suggested that officers listen, don't yell, ask more questions about their mental health, explain what they were going to do, show kindness, respect."

On the police side, the study reported, "Officers stated that they respond to a lot of unknowns in these situations ... Officers at times feel very overwhelmed."

McFadden, executive director of the Arizona Developmental Disabilities Planning Council, was a research analyst at ASU's Morrison Institute when she worked on the study, completed in September 2016.

I asked for her bottom line on whether Phoenix police were better equipped now to handle a mental health crisis than they were three years ago.

Her answer: "Yes. Without a doubt, yes. They are better prepared today."

The Phoenix cop who killed Michelle Cusseaux was demoted from sergeant to officer.

The Mayor's Commission on Disability Issues will hold a public question-and-answer session on the study on April 10 at Steele Indian School Park.