Integrating background subtraction and brightness tracking

Hi guys, I am doing a project to track the motion of a quad, Since i want it to be simple i pick brightness tracking since it is easy to track the x and y co-ordinate values, and this works fine for indoor environment. But once i tried in outdoor i find difficulty since the code confuses to track the brightness available in outdoor, so i thought of integrating background subtraction and brightness tracking. But i find difficulty in it. Any possible ways to integrate those codes? Ping me if you got my idea

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