I would like to reproduce the individual "bullets" you have under section names in the "mini-frames" outer theme under the subsection names in the navigation sidebar created in the "sidebar" outer theme.
From another question, Multiple navigation dots in Beamer for one frame, I found out that the code that produces each mini-frame is from the function \slideentry.
What I have done so far is to modify the navigation command in the sidebar outertheme, \insertverticalnavigation (beamerbasenavigation.sty, lines 548-627) such that it no longer redefines \slideentry to be blank (line 572). This would give, for a example, a MWE as:
\documentclass[compress]{beamer}
\useoutertheme[right,width=50pt,height=25pt]{sidebar}
\usetheme{Copenhagen}
\makeatletter
%Sidebar navigation code
\def\insertverticalnavigation#1{%
\vbox{%
\def\sectionentry##1##2##3##4##5{%
\ifnum##5=\c@part%
\def\insertsectionhead{##2}%
\def\insertsectionheadnumber{##1}%
\def\insertpartheadnumber{##5}%
\hbox{{%
\usebeamerfont{section in sidebar}\usebeamercolor[fg]{section in sidebar}%
\hyperlink{Navigation##3}{%
\ifnum\c@section=##1%
\ifnum\c@subsection=0\relax%
{\usebeamertemplate{section in sidebar}}%
\else%
\ifx\beamer@nav@css\beamer@hidetext%
{\usebeamertemplate{section in sidebar}}%
\else%
{\usebeamertemplate{section in sidebar shaded}}%
\fi%
\fi%
\else
{\usebeamertemplate{section in sidebar shaded}}%
\fi}}}%
\beamer@currentsubsection=0\relax\fi}%
%code commented out:
%\def\slideentry##1##2##3##4##5##6{}%
%
\def\beamer@subsectionentry##1##2##3##4##5{%
\ifnum##1=\c@part%
\def\insertpartheadnumber{##1}%
\def\insertsectionheadnumber{##2}%
\def\insertsubsectionheadnumber{##3}%
\def\insertsubsectionhead{##5}%
\beamer@tocifnothide{\ifnum\c@section=##2\ifnum\c@subsection=##3\beamer@nav@css\else\beamer@nav@oss\fi\else\beamer@nav@ooss\fi}%
{\hbox{{%
\usebeamerfont{subsection in sidebar}\usebeamercolor[fg]{subsection in sidebar}%
\hyperlink{Navigation##4}{%
\ifnum\c@section=##2%
\ifnum\c@subsection=##3%
\ifnum\c@subsubsection=0\relax%
{\usebeamertemplate{subsection in sidebar}}%
\else%
{\usebeamertemplate{subsection in sidebar shaded}}%
\fi%
\else%
{\usebeamertemplate{subsection in sidebar shaded}}%
\fi%
\else%
{\usebeamertemplate{subsection in sidebar shaded}}%
\fi}}}%
}%
\fi}%
\def\beamer@subsubsectionentry##1##2##3##4##5##6{%
\ifnum##1=\c@part%
\def\insertpartheadnumber{##1}%
\def\insertsectionheadnumber{##2}%
\def\insertsubsectionheadnumber{##3}%
\def\insertsubsubsectionheadnumber{##3}%
\def\insertsubsubsectionhead{##6}%
\beamer@tocifnothide{\ifnum\c@section=##2\ifnum\c@subsection=##3\beamer@nav@css\else\beamer@nav@oss\fi\else\beamer@nav@ooss\fi}%
{\hbox{{%
\usebeamerfont{subsubsection in sidebar}\usebeamercolor[fg]{subsubsection in sidebar}%
\hyperlink{Navigation##5}{%
\ifnum\c@section=##2%
\ifnum\c@subsection=##3%
\ifnum\c@subsubsection=##4%
{\usebeamertemplate{subsubsection in sidebar}}%
\else
{\usebeamertemplate{subsubsection in sidebar shaded}}%
\fi%
\else%
{\usebeamertemplate{subsubsection in sidebar shaded}}%
\fi%
\else%
{\usebeamertemplate{subsubsection in sidebar shaded}}%
\fi}}}%
}%
\fi}%
%\beamer@currentsubsection=0\relax%
\dohead%
}%
}
\makeatother
\begin{document}
\section{Foo}
\begin{frame}{Test1}
content...
\end{frame}
\subsection{foo}
\begin{frame}{Test2}
content...
\end{frame}
\begin{frame}{Test3}
content...
\end{frame}
\begin{frame}{Test4}
content...
\end{frame}
\begin{frame}{Test5}
content...
\end{frame}\section{Goo}
\begin{frame}{Test6}
content...
\end{frame}
\begin{frame}{Test7}
content...
\end{frame}
\section{goo}
\begin{frame}{Test8}
content...
\end{frame}
\begin{frame}{Test9}
content...
\end{frame}
\begin{frame}{Test10}
content...
\end{frame}
\begin{frame}{Test11}
content...
\end{frame}
\end{document}
However with this the mini-frames don't format as they would with the standard mini-frame outer theme. See the picture below (I apologise for the bad formatting in the MWE, it is minimal).

As you can hopefully see from the picture of from the MWE, instead of aligning on a single row beneath each subsection each new mini-frame appears on a seperate line.
Does anyone know how one would get the mini-frames to generate properly or which code I could hack to attempt to get the correct behaviour?
Cheers.

\hboxes will be put into different lines in the sidebar. – Symbol 1 Jul 22 '17 at 22:01