Logged In and Logged Out Navigation

Two files in your child theme need to be revised: header.php and functions.php

1. header.php

Replace
<?php wp_nav_menu( array( 'container' => false, 'menu_id' => 'nav', 'theme_location' => 'primary', 'fallback_cb' => 'bp_dtheme_main_nav' ) ); ?>

with
<?php if ( is_user_logged_in() ) : ?>
	<?php wp_nav_menu( array( 'container' => false, 'menu_id' => 'nav', 'theme_location' => 'loggedin', 'fallback_cb' => 'bp_dtheme_main_nav' ) ); ?>
<?php else : ?>
	<?php wp_nav_menu( array( 'container' => false, 'menu_id' => 'nav', 'theme_location' => 'primary', 'fallback_cb' => 'bp_dtheme_main_nav' ) ); ?>
<?php endif; ?>

2. functions.php

Replace
// This theme uses wp_nav_menu() in one location.
	register_nav_menus( array(
		'primary' => __( 'Primary Navigation', 'buddypress' ),
	) );

with
// This theme uses wp_nav_menu() in two locations.
	register_nav_menus( array(
		'primary' => __( 'Primary Navigation', 'buddypress' ),
	) );
	register_nav_menus( array(
		'loggedin' => __( 'Logged In Users Navigation', 'buddypress' ),
	) );

NOTE: You'd have to make a note of the changes you'll be making to the child theme because when you upgrade later on to a new version of Frisco, the revisions made above will be overwritten.