If the child topic is being launched directly rather than via its start page, then you can have part of what you want.
When you generate the help there is an option to display the full TOC for child projects. The idea is that when a child project is opened, the full TOC is displayed. Unfortunately it only works when a child topic is called directly, not when you open the child project through its start page.
The fact that calling the full TOC worked that way was only discovered recently by someone else and I don't know if the Home button then takes you to the parent default topic. You will have to test that and please post back what happens.
If it fails, there is only one thing I can suggest. Create a new default topic and give it file name like redrabbit.htm as that will not be anywhere in your project. Create a new output and then use a find and replace tool such as FAR to see if you can find that filename in any of the files that RoboHelp creates in the output. Maybe by editing that file you can achieve what you want.
Needless to say, experiment using a copy of your project.
See www.grainge.org for RoboHelp and Authoring tips
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After some playing around it's possible to get the desired behaviour; You need to edit the MasterData.xml to point to the default topic of the parent project and then add target=\"_top\" >" to the strTrail var in the AddMasterBreadcrumbs function in whtopic.js. Copy these edited files to each child project's output and it seems to work fine.