Just so you are clear on it, the fact that you knew it was a dream made it a lucid dream. Controlling the dream has nothing to do with the criteria for being lucid. All you need to be lucid is to know that you are dreaming. Dream control is just very delicious icing on the cake

I have experienced something similar to the flitting, when you are in a dream and desperately trying to remain calm and stay in the dream. You sort of switch between feeling your sleeping body and dream self, until you either manage to stabilize or end up waking up. I'd recommend next time instead of thinking "I have to stay calm so I don't wake up" and inevitably thinking about your real body (which always makes me wake up), just think to yourself, "I have to stabilize this dream" and do things like talk out loud, look at your dream body, touch things, smell things, listen for sounds, talk to dream characters, etc.