One of the most important things you need to realize about the Elder Scrolls games, in terms of lore, is that everything you read or hear in a game is not necessarily true. The Elder Scrolls is full of http://en.wikipedia.org/wiki/Unreliable_narrator This is, for many of us, one of the things that makes this series so fascinating.
There is no direct evidence, other than the name, that Mankar Camoran is the illegitimate son of the Camoran Usurper. In fact, we can assume they are not, because of the race issue you mentioned. My own guess is that the names are a coincidence, like two people being named John Smith.