Light headed after a walk

St

I’m 20 weeks pregnant and took my usual walk today. I was walking and talking and going a little faster than I usually do up the hills. So I felt out of breath and a little light headed. I stopped within minutes and sat down. My breathing returned to a slower pace after probably 3-5 minutes and the light headed feeling went away. I’m still feeling little kicks from the baby. But I’m nervous because everything says online if you feel lightheaded when you exercise then you’ve done too much. Worried the baby didn’t get enough oxygen even if for a short amount of time. Has anyone else experienced this and all was fine? If she’s still kicking then should I not be worried?

Thank you!