So, I've been having lucid dreams for a while now (And tend to get them on average every other week). There has been one occasion where I had a lucid that seemed to go on for a long time, but other than that it tends to usually be too short to get much of anything done... like two minutes. I'm not sure if it's a mental thing or if it has to do with when I go to bed and wake up. Any ideas on how to change this?

Something to note: only once has the realization I was dreaming caused me to wake up (When for no reason I was so shocked that I fell stumbled backwards and woke up ). Usually I realize I'm dreaming and start doing stuff (Start being the key word) before waking up.