By default, this is enabled. Here is the code you can disable in JQM v 1.1-RC1
$(document).on('pageinit','[data-role=page]', function(){ $('[data-position=fixed]').fixedtoolbar({ tapToggle:false}); });
I like to bind it to the taphold event. That makes more sense to me. Here's how to do it:
$(document).on('taphold', '[data-role=page]', function(){ $('[data-position=fixed]').fixedtoolbar('toggle'); });
If you use JQM v 1.0.1, then you cannot use the .on () method. The on method is new with respect to jquery 1.7. Using .delegate () is recommended for .live (), so do the following:
$(document).delegate('[data-role=page]','pageinit', function(){ $.mobile.fixedToolbars.setTouchToggleEnabled(false); });
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