I don’t think he meant this the way you think.
littlegreenfootballs.com

I get his critics but some are just too quick to make the worst of his words. When he was interviewed about the 2nd A. he was asked about kinds of weapons. He talked about “bearable” as meaning no aircraft, no tanks, no artillery etc. So the next question was shoulder fired missiles. (Silly I know) He pointed out that as “bearable” the legislature would have to address it. Since he had already acknowledged to constitutionality of the previous federal gun control laws from the past, he clearly endorsed the governments right to regulate what kinds of guns could be bought.

The critics wasted no time saying Scalia said shoulder fired missiles should/would be legal. Not so.