If you are aware you are dreaming you are lucid, even if you don't control the dream.

Having control over your actions or what happens tends to be the next step.


As for the flying...I tend to swim in the air more. I grew up swimming and it's the most prominent sensation and memory my brain connects to, despite having flown a plane myself.

Your mind has to be able to make the connections for you to dream it. You will usually connect to the sensations and images your mind is most familar with, even if they become merged with others and seem unfamiliar.