You can make the change in pedals "one day" but you have to do the test over a longer period of time. If you switch from clipless to flat pedals you need to relearn how to pedal in circles, because when you're clipped to the pedal you can get a bit lazy and let the cleat drag your foot around. Tha's why your foot floats off the pedal at the top of the stroke when you first go back to flat pedals - you've forgotten how to move your foot in a circle.