They may or may not have been. Did you realise that you were dreaming? Flying in itself doesn't mean you're lucid, but if you realised it was a dream and chose to fly, being aware of the fact that you were asleep and now in a world where it was possible to do such things, then yes. It is possible to have flying dreams without being lucid, though; I think most people do. It's also possible to feel present and have some degree of control over the dream without being lucid. Maybe when this is the case you're closer to lucidity than when you have no control at all and feel like you're just being swept along in oblivion, but unless you were aware that you were dreaming, it wasn't quite a lucid dream.
The dreams can still be vivid and enjoyable, though, at times even more so for believing it's actually real.
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