I got out my manual and for INITIAL CUES it says :
Feet Flat On The Floor. Knees bent and higher than the hips to maintain slight inward curve of the lower back.
For FOLLOW UP CUES it says:
Feet Firmly On The Floor. Keep Both Feet On The Floor Hip Width Apart.
That is it, there is no feet in the air option listed. The only option listed is for reduced range of motion by lying your whole body on the floor.
I am Certified to teach and currently do teach BODYPUMP!
My manual was printed in 2006, and in my training we were seriously discouraged to allow feet in the air.
Don't regret doing anything that made you smile!!