Genesis filter genesis_skip_links_output to add the registerd menu 'foo-menu' to the array. See other gist https://gist.github.com/carasmo/a988e9b4126cdb9f28e6
<?php
// don't include this
/** ====================================================================================
* add skip links to new nav
* filter 'genesis_skip_links_output' to add new
* https://gist.github.com/carasmo/a988e9b4126cdb9f28e6
==================================================================================== **/
function foo_nav_skip_links_output( $links ){
$foolink = $links;
array_splice( $foolink, 3 );
if ( has_nav_menu( 'foo-menu' ) ) {
$foolink['foo-nav'] = __( 'Skip to Foo Nav', 'your-text-domain' );
}
return array_merge( $foolink, $links );
}
add_filter( 'genesis_skip_links_output', 'foo_nav_skip_links_output' );