I just would like to add that dreams are based largely on expectations. If you go into a dream, and realize you're dreaming, and then immediately get the thought of "This is going to end real quick so I have to do all I can in this short time." then that is what is going to happen. My lucids have always been decently long and somewhat vivid. I never had to worry about layer 1(Quickly ending) lucids because I never expected them. I have had "low quality" lucids before as you explained though. I would say to fix this you need to increase clarity and stability the moment you notice you are dreaming. Do not worry about the length of the dream. In order to make the lucid more enjoyable at this point you need to engage the senses. Feel the area around you, take a look at the detail. What are you smelling, what can you hear? At this point many people say to rub your hands together, but feeling other things seems to be better. Feel your clothes, feel the wall beside you(If there is one), now here is a weird one, taste the ground. Does the ground taste like ti should? Engaging your senses really does help. This whole process should only take about a minute, and then the rest of the dream can be much more clear. I like to shout "Increase clarity" or "More vivid!" whenever I start my lucids. But I also agree with what was previously mentioned in this topic, your lucids will be better with practice. Not every dream will be a layer 4(Full clarity, full control), in fact, I have never had a layer 4 lucid. Most of my lucids are Layer 2, which is basically what you are experiencing. You have low quality, but better control. Most of my lucids I know I am dreaming, but I don't do much about it. Another good portion of my lucids are layer 3(Good clarity and stability, but little control)