Totally normal.
You are correct that the camera auto exposure was trying to adjust to the different brightness on the screen. Over dark Forest, it brightens up, and when looking at bright sky, it darkens.
If you touch nothing, the camera adjusts for the average brightness on screen, or, tries to. It guesses what you are intending to shoot based on what is most on the screen.
Manual settings, adjusting shutter speed and ISO will help you find a fixed setting, but as you noticed, not so great when flying between scenes.
What you can do, is TAP THE SCREEN where you want the camera to adjust for (called metering). A yellow circle will pop up where you tap. The camera will now adjust for that spot. You can do this easily while flying, you can tap to different points, and you can even cancel it.
As far as exposing to both sky and ground at the same time, that really won't happen in video on the spark. The ability to adjust for highs and lows is called dynamic range, and the Spark camera has a very narrow range. If shooting a still photo, you can fake a High Dynamic Range by using exposure bracketing, which takes 3 or so pictures, all at different brightness (called exposures). You then merge them later on your computer (using Photoshop or similar), and then you can adjust for both high and lows.
Hope this helps.