If a normal, well-formed conscience believes that something might be a mortal sin, but chooses to commit that act anyway, then they are acting on a doubtful conscience, and doing so is always objectively wrong.
We have an obligation to first find out, before committing an act, whether doubts we have about its moral nature are ill-founded.
This moral principle is illustrated by the hunting in the woods example. If I as a hunter see something that could be an animal, but might well be a man, then my moral duty is to first find out what I’m looking at before shooting at it. Doing the contrary is both morally and legally deficient.
On the other hand, intention is important. Generally speaking, someone who is unwilling to offend God is in a different situation from the person who really doesn’t care very much whether they are offending Him or not.
So the rule of thumb is to find out, before acting, whether doubts you have about that act are true or false.
And then there’s problems arising what kind of conscience we’re talking about here. A normal conscience is not a scrupulous conscience is not a lax conscience, and all three categories require different approaches.