So this happened in November of 2018 apparently. The guy in the video is the YouTuber Flexxinruee (Rudy Ornelas). He's a barber mostly and I believe this happened in front of his business.
He says in the original video on his channel that this event happened in November of 2018 and he won the case in August of 2019 after using the video as evidence. He posted this video to his channel August 6th of 2019.
As far as what exactly he was charged with it wasn't exactly released. CBS news asked and the police didn't comment. He did have a "gun charge" according to a CBS article from 2019. It seems that any other charges were dropped before they got to court and the gun charge was the only one that remained.
The charge specifically was for the illegal transportation of a firearm. In California you can transport a firearm only in your trunk or in another locked area/container IF the firearm is unloaded. His had the magazine in it. That's all they got him on. He went to court to get the firearm back and I believe he had to take a firearms class.
The police captain also claimed the video didn't show the "conclusion" to the interaction where they claim he admitted he knows why the gun was drawn on him and he apologized. That being said they never released any dashcam or body cam footage to confirm that. It's just a buncha talk as far as I'm concerned. Rudy (the YouTuber) never said anything to that effect so ¯(ツ)_/¯
About 4 months back he posted a video talking about the situation and answering the question of if he sued and explaining why he didn't sue. He mostly just said he wasn't sure the outcome would actually be positive and there's a lot of religion thrown in there about how Jesus kept the cops from shooting him etc.
Edit: clarifying the guy's name, the origin of some of the information, and that Rudy never mentioned anything about apologizing to my knowledge