Mr Madgwick said that his family was being given support by specially trained officers.
BBC: North Yorkshire Police officer killed in road crash
He was a "committed and enthusiastic" officer, said temporary Chief Constable Tim Madgwick.
"Everyone is shocked and saddened by the news of his death and I speak for every member of the force in extending our heartfelt sympathies to his family, friends and colleagues, " Mr Madgwick said.
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