This sounds like a serious issue. Talk to Social Services about him. They might be able to put him under a mental health hold.
Other than that, consider consulting a lawyer and looking into a temporary restraining order while staying vigilant.
You might have a civil case for emotional distress. It’s good to talk to a lawyer who knows about these issues.
Get a restraining order right away and call a lawyer to sue him.
Consider getting a protective order against him. With video proof and charges against him for shooting at your home, you have a good chance of getting an order.
Contact the district attorney for help finding victim advocacy groups nearby.
I believe he is being tested, and the GPS monitor was unclear during the hearing.
It’s not safe to have any contact with him or his family after a violent act, especially now that the legal process has started.