Navigation bar and header color help

Hello,

Need your help to configure my website header to be different color than my navigation bar. See attachment.

Additionally, in the navigation bar is there a solution to have the navigation text change color upon rollover and active state. I would like to have the text turn to yellow while the background of the selected nav item turn to a dark yellow. See attachments.

I’ve tried all the different color manager options for both issues but could not find a solutions.

Please help.

Thanks in advance,
Erick