Consider the context into which the amendment was written; a very bloody war between Crown loyalists and separatists (all British subjects, mind you) had just been completed. The idea of a United States citizen was still a dream. That individuals owned and operated their own weapons was the sole reason the separatists won.

I'll point to a more recent example: the Los Angeles riots in 1992. Koreatown was protected by gun toting citizens, literally fending off the mob. (Whether we categorize the mobs as tyrannical is more pedantic than anything else, the men with weapons maintained their agency because of the threat of lethal force. Guns against a government yield the same end, maintaining agency when others may try to take it from you.)