I've been in a similar situation but trapped in a room, were your thoughts solely focussed on opening the door?

Because I felt trapped, but amanged to get calm when the door of this room I wanted to get out of was locked. Then I rationalised that as I was lucid I didn't need to use the door, I tried to push through a wall and failed twice, it was solid, then eventually I was able to get through.

So yes, I've had some experiences where I've not been in control and when I've been able to overcome the fear then I've gotten past the obstacle, I think the problem is your mind goes off 100 miles an hour and you lose the ability to rationalise.

Sounds to me like a lucid dream that was quickly becoming a nightmare and you lost control of it due to the anxiety of the situation.

Bad experiences are good experiences though because if it happens again, hopefully you can remain calm and try floating through the roof instead!