I think you also have to take into account the current situation of the country at the time it was written.
Madison was against the US having a standing army, thus he felt all citizens should be armed and available to become the army at any time. The fact that we do have a standing army does not make the right to bear arms any less significant now than it was then. A big point for him was that the people needed the means to rise up against an oppressive government if the need arose again.
Great!
So let's get rid of our standing army and just arm citizens.
Yeah, that'll almost work.
Then all we need to is insure that when the enemy comes, we get them to stand up out in the open in red coats while we get to shoot them from behind stone walls.
Hey it worked in the 18th century so we just need to do that again, right?
This is one of the reasons why those of you who imagine you're strict interpretationists of the Constitution are ******* fools, ya know.
The world changed and you guy still imagine that we can have the same government structure we had 230 years ago.
Hey I know...lets have 18th century health care, too.
Then nobody needs HC insurance, either.
While we're at it, let's get rid of our dollars and we can all print up our own, money.
Because isn't that how you guys (who all imainge you're legal scholars) interpret the constitution?