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I have replaced the main navigation menu with the sub navigation menu.

I deleted nav('main'), I just don't need it, I only use nav('sub') in the header.

The problem is however, whenever I click on a question title, I get to a new page with the question contents... but then the sub navigation menu in the header is disappeared.

So, how can I keep the sub-nav menu always visible, and use it as the main navigation in the header?

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The sub-navigation menu is dependent on which page you are on - question pages don't have a sub-navigation menu, and that's why none is shown. It sounds like your custom theme would have to manually build the sub-navigation menu as appropriate, before calling nav('sub')

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+1
^ I understand, but I would like to know how I can hack the nav('sub') into begin independent from which page you are on, I just want it to be visible all the time, just like nav('main').

Can you give me any advice on how to do that en where to look exactly?
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You can use the questions sub-navigation on other pages by doing something like this in an advanced theme:

function nav_main_sub()
{
  if (empty($this->content['navigation']['sub'])) {
    require_once QA_INCLUDE_DIR.'qa-app-q-list.php';
    $this->content['navigation']['sub']=qa_qs_sub_navigation('');
  }

  qa_html_theme_base::nav_main_sub();
}

Code not tested so be on the lookout for issues.
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Thanks! That did work, the subnavigation questions are visible on all pages, but the mainnavigation is visible as well... I just hided that one with css display: none property :-P Thank you for your time!
by
Could you explain please step by step how you hid that? I'm not too familiar with css. :) I finally got the sub-navigation appearing 100% of the time, but like you said, it's appearing on all pages now. Would only like the sub nav to be appearing when I only click on 'Questions'. Thanks!
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