Detail from Drake Mural, Grace Cathedral, San Francisco, California. 
A page, perhaps Drake's nephew, is shown holding his shield.  The arms depicted, Quarterly 1 & 4, Argent a wyvern Gules, and 2 & 3 Sable a Fess wavy between two Estoiles Argent were the arms as Drake actually bore them.  The image is anachronistic, however, since the new coat in quarters 2 and 3 was not granted until 1581--after Sir Francis returned to England.