Triger a custom menu that belongs to a page, it's childern and a custom post type

In my header template I want set a sub menu that changes depending on what page you are on. So if you are on the About page or one of the About child pages then the sub menu changes to the About menu. If you are on the Members page or one of the Members child pages then the sub menu changes to the Members menu.

So in code it might be something like, if About page or or child page page then call About menu and so on... one issue is that some of the children are custom post types. I can build a custom menu fine with a link to an archive page that has all the custom posts on it but I have no idea what the code would look like?