Yes, we've got to make sure we're talking about the same thing here. In general, we don't morally censure a person who does bad things with good intentions. For example, in criminal law there is usually a requirement of ill-intent, called "mens rea"[1], which means the actor is aware that what they're doing is wrong.
If a person does something wrong but is not aware that what they did is wrong, the general reaction is not to "accuse them of misconduct", but rather to explain to them what it is about their action that's wrong, after which (if they in fact have good intent) they will no longer do that action.